Starting HOP Planner /127.0.0.1 RDDL client initialized 1:10 This is one of the usage of KeySet Operation!!!! ------ This is Tranlate (Translate.java)----- [not_in_use, recon_demo_inst_mdp__1, 2, 0.3, none] ------- This is TranslateInit (Translate.java) ------This is getConstants(Translate.java) ---------Initializing Translate is completed!!!------------ ------- This is HOPTranslate (HOPTranslate.java) [not_in_use, recon_demo_inst_mdp__1, 2, 0.3, none, 3, SAMPLE, ROOT, not_in_use, not_in_use] -----This is HOPTranslateInit ---- -----End of FittedEmergencyDomainHOPTranslate INIT Function------------ This is one of the usage of KeySet Operation!!!! [ Memory usage: 34.42Mb / 126.88Mb = 0.27 ] ********************************************************* >>> ROUND INIT 1/10; time remaining = 499067.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "499066.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true -----------------------------------------This is for First Time---- 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.04 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.03549909591674805 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 74 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "494790.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00698089599609375 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "494207.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049059391021728516 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "493596.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007014036178588867 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 24 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "492407.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.006796121597290039 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 24 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "491596.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848003387451172 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "490712.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.006002187728881836 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 21 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "489969.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004806995391845703 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "489410.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889965057373047 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "489181.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048749446868896484 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "489027.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0070149898529052734 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "488838.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004831075668334961 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "488688.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004842996597290039 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "488534.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004835844039916992 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "488367.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "487969.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007386922836303711 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "487776.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048329830169677734 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "487594.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004887104034423828 Translation time(mins) : 0.006500000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "487454.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004858970642089844 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "487339.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00487518310546875 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "487225.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "487097.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004765987396240234 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "486949.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004906177520751953 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "486756.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909038543701172 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "486638.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004912137985229492 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "486286.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "486154.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004805088043212891 Translation time(mins) : 0.006833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "486038.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.006833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "485917.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004829883575439453 Translation time(mins) : 0.007000000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "485794.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004803895950317383 Translation time(mins) : 0.007000000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "0" [round-reward] "0.0" [turns-used] "30" [time-left] "485675" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 49270024 / 466092032 = 0.10570878843086509 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 119.91Mb / 212.86Mb = 0.56 ] ********************************************************* >>> ROUND INIT 2/10; time remaining = 484694.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "484689.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.015007972717285156 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "484227.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047991275787353516 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "484099.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0050258636474609375 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "483970.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004826068878173828 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "483837.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004911899566650391 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "483716.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004855155944824219 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "483535.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004913806915283203 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "483407.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848003387451172 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "483275.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048449039459228516 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "483113.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004842996597290039 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "482973.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007327079772949219 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 22 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "482781.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00489497184753418 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "482665.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049130916595458984 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "482543.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "482420.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909038543701172 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "482303.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004876136779785156 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "482168.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004884004592895508 Translation time(mins) : 0.011666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "482054.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004807949066162109 Translation time(mins) : 0.011833333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "481924.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004798173904418945 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "481803.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004917144775390625 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "481683.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047800540924072266 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "481479.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048639774322509766 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "481361.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004787921905517578 Translation time(mins) : 0.012166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 19 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "481169.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00490880012512207 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "481056.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047991275787353516 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "480908.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00484013557434082 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "480787.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "480672.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047800540924072266 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "480555.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004845857620239258 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "480432.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004775047302246094 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "1" [round-reward] "0.0" [turns-used] "30" [time-left] "480311" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 117597488 / 466092032 = 0.25230529579188343 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 56.17Mb / 135.79Mb = 0.41 ] ********************************************************* >>> ROUND INIT 3/10; time remaining = 479592.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "479591.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.013979911804199219 Translation time(mins) : 0.015333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "479455.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00498199462890625 Translation time(mins) : 0.015333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "479337.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004869937896728516 Translation time(mins) : 0.015333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "479214.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868984222412109 Translation time(mins) : 0.015333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "479097.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004821062088012695 Translation time(mins) : 0.015333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "478958.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004896879196166992 Translation time(mins) : 0.015500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "478826.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004900932312011719 Translation time(mins) : 0.015500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "478706.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889965057373047 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "478583.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004845142364501953 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "478465.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048370361328125 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "478335.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.006618976593017578 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "478206.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "478079.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00485682487487793 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "477963.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004791975021362305 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "477845.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049211978912353516 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "477690.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004860877990722656 Translation time(mins) : 0.01566666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "477569.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049190521240234375 Translation time(mins) : 0.015833333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "477430.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004853963851928711 Translation time(mins) : 0.015833333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "477209.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004914999008178711 Translation time(mins) : 0.015833333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "477088.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049211978912353516 Translation time(mins) : 0.016 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "476970.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004849910736083984 Translation time(mins) : 0.016 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "476850.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004890918731689453 Translation time(mins) : 0.016 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "476736.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004902839660644531 Translation time(mins) : 0.016 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "476619.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004858970642089844 Translation time(mins) : 0.016 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "476495.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00487518310546875 Translation time(mins) : 0.01616666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "476381.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004914045333862305 Translation time(mins) : 0.01616666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "476155.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004892110824584961 Translation time(mins) : 0.01616666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "476043.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004843950271606445 Translation time(mins) : 0.01616666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "475926.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State The actions are not feasible (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004873037338256836 Translation time(mins) : 0.016333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "475810.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004853010177612305 Translation time(mins) : 0.016333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $c1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $c2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "2" [round-reward] "0.0" [turns-used] "30" [time-left] "475696" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 99375544 / 466092032 = 0.2132101327147339 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 121.54Mb / 181.93Mb = 0.67 ] ********************************************************* >>> ROUND INIT 4/10; time remaining = 474698.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "474693.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014892816543579102 Translation time(mins) : 0.020833333333333332 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "474458.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0051000118255615234 Translation time(mins) : 0.020833333333333332 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "474339.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00486302375793457 Translation time(mins) : 0.021 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "474211.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004900932312011719 Translation time(mins) : 0.021 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "474090.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004965066909790039 Translation time(mins) : 0.021 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "473974.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.021 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "473837.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004806995391845703 Translation time(mins) : 0.021 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "473721.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004829883575439453 Translation time(mins) : 0.021166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "473609.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889011383056641 Translation time(mins) : 0.021166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "473473.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004817962646484375 Translation time(mins) : 0.021166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "473356.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.021166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "473223.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048639774322509766 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "473107.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047149658203125 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "472992.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004953861236572266 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "472854.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049190521240234375 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 20 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "472717.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004886150360107422 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "472595.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049037933349609375 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "472479.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0060460567474365234 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "472303.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.005023956298828125 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "472187.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004896879196166992 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "472058.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004884004592895508 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "471846.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00486302375793457 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "471727.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00493311882019043 Translation time(mins) : 0.021333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "471611.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004878997802734375 Translation time(mins) : 0.021500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "471490.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004912853240966797 Translation time(mins) : 0.021666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "471368.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004853010177612305 Translation time(mins) : 0.021666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "471221.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004882097244262695 Translation time(mins) : 0.021666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "471074.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889965057373047 Translation time(mins) : 0.021666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "470935.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049588680267333984 Translation time(mins) : 0.021666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "470745.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048580169677734375 Translation time(mins) : 0.021833333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "3" [round-reward] "0.0" [turns-used] "30" [time-left] "470624" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 93362400 / 466092032 = 0.20030893812833941 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 36.18Mb / 158.86Mb = 0.23 ] ********************************************************* >>> ROUND INIT 5/10; time remaining = 470077.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "470076.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014698028564453125 Translation time(mins) : 0.025666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "469936.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004952907562255859 Translation time(mins) : 0.025666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "469811.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00483393669128418 Translation time(mins) : 0.025666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "469692.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004857063293457031 Translation time(mins) : 0.025666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "469564.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049130916595458984 Translation time(mins) : 0.025666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "469450.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004903078079223633 Translation time(mins) : 0.025833333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "469325.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909992218017578 Translation time(mins) : 0.025833333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "469154.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004887104034423828 Translation time(mins) : 0.025833333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "469039.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004899024963378906 Translation time(mins) : 0.025833333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "468914.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004915952682495117 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "468802.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00492405891418457 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "468680.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004803895950317383 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "468552.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004849910736083984 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "468394.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049970149993896484 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "468279.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004947185516357422 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "468089.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004846811294555664 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "467947.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004858970642089844 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "467840.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004930019378662109 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "467641.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00485992431640625 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "467526.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004902839660644531 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "467416.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848003387451172 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "467297.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004817008972167969 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "467187.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048558712005615234 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "467042.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004820108413696289 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "466927.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048370361328125 Translation time(mins) : 0.026000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "466815.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.026166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "466678.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.026166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "466566.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004824161529541016 Translation time(mins) : 0.026166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "466438.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004910945892333984 Translation time(mins) : 0.026166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "466322.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004805088043212891 Translation time(mins) : 0.026166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r2, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r2, $l2);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "4" [round-reward] "0.0" [turns-used] "30" [time-left] "466213" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 55246520 / 466092032 = 0.11853135476900836 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 36.24Mb / 156.76Mb = 0.23 ] ********************************************************* >>> ROUND INIT 6/10; time remaining = 465628.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "465627.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014464855194091797 Translation time(mins) : 0.030166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "465505.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004874229431152344 Translation time(mins) : 0.030166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "465359.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049059391021728516 Translation time(mins) : 0.030166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "465230.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004915952682495117 Translation time(mins) : 0.030166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "465061.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049250125885009766 Translation time(mins) : 0.030166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "464945.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00487518310546875 Translation time(mins) : 0.030333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "464833.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00492405891418457 Translation time(mins) : 0.030333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "464688.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048558712005615234 Translation time(mins) : 0.030500000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "464576.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004933834075927734 Translation time(mins) : 0.030500000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "464399.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049440860748291016 Translation time(mins) : 0.030500000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "464271.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004870891571044922 Translation time(mins) : 0.030500000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "464151.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.005064964294433594 Translation time(mins) : 0.03066666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "464034.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004971981048583984 Translation time(mins) : 0.03066666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "463918.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868984222412109 Translation time(mins) : 0.03066666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "463801.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004993915557861328 Translation time(mins) : 0.03066666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "463664.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048389434814453125 Translation time(mins) : 0.03066666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "463549.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004881143569946289 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "463426.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004951000213623047 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "463310.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048749446868896484 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "463181.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004911899566650391 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "463055.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004864931106567383 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "462939.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048580169677734375 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 19 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "462807.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049779415130615234 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "462688.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004847049713134766 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 26 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "462522.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049359798431396484 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "462412.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004893064498901367 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "462290.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048978328704833984 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "462175.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004940032958984375 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "462057.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004930019378662109 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "461895.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [1e-02, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004908084869384766 Translation time(mins) : 0.030833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);, repair($r1, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "5" [round-reward] "0.0" [turns-used] "30" [time-left] "461769" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 128111592 / 466092032 = 0.27486329566775347 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 31.86Mb / 184.55Mb = 0.17 ] ********************************************************* >>> ROUND INIT 7/10; time remaining = 460806.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "460806.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.015036821365356445 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "460681.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004854917526245117 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "460513.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048980712890625 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "460397.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004945039749145508 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "460231.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004798173904418945 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "460123.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004854917526245117 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "459999.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047719478607177734 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "459890.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004822969436645508 Translation time(mins) : 0.035 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "459780.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004860877990722656 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "459663.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004827022552490234 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "459550.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "459437.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004827022552490234 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "459321.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048580169677734375 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "459210.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004855155944824219 Translation time(mins) : 0.03516666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "459086.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004812955856323242 Translation time(mins) : 0.035333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "458969.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004864215850830078 Translation time(mins) : 0.035333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "458853.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909038543701172 Translation time(mins) : 0.035333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "458739.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004834890365600586 Translation time(mins) : 0.035333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "458624.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004853010177612305 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "458514.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004934072494506836 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "458395.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004849910736083984 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "458283.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004876136779785156 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "458168.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00486302375793457 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "458044.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004873991012573242 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "457932.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.005736112594604492 Translation time(mins) : 0.035500000000000004 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "457813.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004851818084716797 Translation time(mins) : 0.035666666666666666 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "457702.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004825115203857422 Translation time(mins) : 0.035666666666666666 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "457587.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004866838455200195 Translation time(mins) : 0.035666666666666666 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "457434.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004860877990722656 Translation time(mins) : 0.035666666666666666 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 20 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "457301.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [6e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004826068878173828 Translation time(mins) : 0.035666666666666666 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r1, $l1)=true, repair($r1, $l2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l1);, repair($r1, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "6" [round-reward] "0.0" [turns-used] "30" [time-left] "457118" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 65620616 / 466092032 = 0.14078896761745113 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 43.17Mb / 151.52Mb = 0.28 ] ********************************************************* >>> ROUND INIT 8/10; time remaining = 456519.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "456519.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014488935470581055 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 21 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "456379.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004928112030029297 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "456264.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004918813705444336 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "456146.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004800081253051758 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "456016.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048980712890625 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "455886.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004930973052978516 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "455767.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048580169677734375 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "455632.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004935026168823242 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 19 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "455509.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00492095947265625 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 23 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "455361.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004808187484741211 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 23 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "455208.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004940986633300781 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "455069.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004818916320800781 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "454954.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004890918731689453 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "454800.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048749446868896484 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "454679.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004875898361206055 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "454562.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004822969436645508 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 19 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "454436.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048198699951171875 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "454324.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004873037338256836 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "454179.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004961967468261719 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "454064.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004867076873779297 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "453951.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004797935485839844 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "453836.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004849910736083984 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "453720.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004832029342651367 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "453604.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.005015850067138672 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "453459.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00480198860168457 Translation time(mins) : 0.0395 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "453343.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.03966666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 22 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "453191.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048639774322509766 Translation time(mins) : 0.03966666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "453057.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004904031753540039 Translation time(mins) : 0.03966666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "452945.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004893064498901367 Translation time(mins) : 0.03966666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "452826.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [5e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004731893539428711 Translation time(mins) : 0.03966666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r2, $l1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "7" [round-reward] "0.0" [turns-used] "30" [time-left] "452701" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 78572328 / 466092032 = 0.16857685307952228 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 55.25Mb / 138.41Mb = 0.4 ] ********************************************************* >>> ROUND INIT 9/10; time remaining = 452146.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "452146.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014709949493408203 Translation time(mins) : 0.04283333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "452014.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048520565032958984 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "451894.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004857063293457031 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "451775.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004914045333862305 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "451650.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004831075668334961 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "451526.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004867076873779297 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "451395.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004770994186401367 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "451275.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004864931106567383 Translation time(mins) : 0.043000000000000003 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "451152.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048160552978515625 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "451039.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004899024963378906 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "450917.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004873037338256836 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "450794.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004842996597290039 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "450676.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004930019378662109 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "450530.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049991607666015625 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "450404.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049381256103515625 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "450281.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0050830841064453125 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "450122.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004910945892333984 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "449980.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "449851.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00482487678527832 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "449733.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004879951477050781 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "449618.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004942893981933594 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "449499.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889965057373047 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "449381.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004810810089111328 Translation time(mins) : 0.04316666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 20 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "449249.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004904985427856445 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 20 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "449114.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004931926727294922 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "448966.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004965066909790039 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "448848.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00482487678527832 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "448732.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004891872406005859 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "448614.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004893064498901367 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "448501.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [8e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00487208366394043 Translation time(mins) : 0.043333333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "8" [round-reward] "0.0" [turns-used] "30" [time-left] "448385" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 103320120 / 466092032 = 0.221673216674942 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 34.6Mb / 159.38Mb = 0.22 ] ********************************************************* >>> ROUND INIT 10/10; time remaining = 447710.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "447709.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.014853954315185547 Translation time(mins) : 0.04733333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "447584.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004904031753540039 Translation time(mins) : 0.04733333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "447465.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048639774322509766 Translation time(mins) : 0.04733333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "447349.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004849910736083984 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "447233.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004853010177612305 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "447112.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048940181732177734 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "446997.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004892110824584961 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "446877.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004789113998413086 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "446759.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004824161529541016 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "446638.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004878997802734375 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "446520.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004879951477050781 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "446407.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049228668212890625 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "446290.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "446173.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004835844039916992 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "446055.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004873037338256836 Translation time(mins) : 0.0475 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "445935.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004943132400512695 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "445822.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868984222412109 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "445685.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004912137985229492 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "445567.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004961967468261719 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "445448.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004893064498901367 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "445331.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004939079284667969 Translation time(mins) : 0.04766666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "445204.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004806995391845703 Translation time(mins) : 0.04783333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "445057.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004957914352416992 Translation time(mins) : 0.04783333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "444927.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004879951477050781 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 17 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "444795.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004971981048583984 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "444671.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048830509185791016 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "444542.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848957061767578 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "444422.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004867076873779297 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "444262.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004884004592895508 Translation time(mins) : 0.04800000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "444002.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [7e-04, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00475001335144043 Translation time(mins) : 0.04816666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c2)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c2);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "9" [round-reward] "0.0" [turns-used] "30" [time-left] "443887" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 48875152 / 466092032 = 0.10486159094004852 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- ********************************************************* >>> SESSION END, total reward = 0.0 *********************************************************