def test_reward_single_agent_makespan(self):
grid = MapfGrid(['....', '....', '....', '....', '....'])
start_locations = ((0, 0), )
goal_locations = ((4, 0), )
determinstic_env = MapfEnv(grid, 1, start_locations, goal_locations, 0,
REWARD_OF_CLASH, REWARD_OF_GOAL,
REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
total_reward = 0
down_action = vector_action_to_integer((DOWN, ))
_, r, _, _ = determinstic_env.step(down_action)
total_reward += r
_, r, _, _ = determinstic_env.step(down_action)
total_reward += r
_, r, _, _ = determinstic_env.step(down_action)
total_reward += r
s, r, done, _ = determinstic_env.step(down_action)
total_reward += r
self.assertEqual(s,
determinstic_env.locations_to_state(goal_locations))
self.assertEqual(r, REWARD_OF_LIVING + REWARD_OF_GOAL)
self.assertEqual(total_reward, REWARD_OF_GOAL + 4 * REWARD_OF_LIVING)
def test_copy_mapf_env(self):
grid = MapfGrid(['....', '....', '....', '....', '....'])
env = MapfEnv(grid, 1, ((0, 0), ), ((4, 0), ), 0, REWARD_OF_CLASH,
REWARD_OF_GOAL, REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
env.step(vector_action_to_integer((RIGHT, )))
env_copy = copy(env)
env_copy.step(vector_action_to_integer((RIGHT, )))
def test_reward_multiagent_soc_stay_actions(self):
grid = MapfGrid(['....', '....', '....', '....'])
start_locations = ((0, 0), (3, 3), (1, 1))
goal_locations = ((0, 1), (1, 3), (1, 2))
determinstic_env = MapfEnv(grid, 3, start_locations, goal_locations, 0,
REWARD_OF_CLASH, REWARD_OF_GOAL,
REWARD_OF_LIVING, OptimizationCriteria.SoC)
right_stay_stay = vector_action_to_integer((RIGHT, STAY, STAY))
s, r, done, _ = determinstic_env.step(right_stay_stay)
self.assertEqual(r, -3)
def test_reawrd_multiagent_makespan(self):
grid = MapfGrid(['....', '....', '....', '....'])
start_locations = ((0, 0), (3, 3), (1, 1))
goal_locations = ((0, 1), (1, 3), (1, 2))
determinstic_env = MapfEnv(grid, 3, start_locations, goal_locations, 0,
REWARD_OF_CLASH, REWARD_OF_GOAL,
REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
total_reward = 0
right_up_right = vector_action_to_integer((RIGHT, UP, RIGHT))
s, r, done, _ = determinstic_env.step(right_up_right)
total_reward += r
self.assertFalse(done)
stay_up_stay = vector_action_to_integer((STAY, UP, STAY))
s, r, done, _ = determinstic_env.step(stay_up_stay)
total_reward += r
self.assertEqual(s,
determinstic_env.locations_to_state(goal_locations))
self.assertTrue(done)
self.assertEqual(total_reward, 2 * REWARD_OF_LIVING + REWARD_OF_GOAL)
def test_action_from_terminal_state_has_no_effect(self):
grid = MapfGrid(['..', '..'])
env = MapfEnv(grid, 1, ((0, 0), ), ((1, 1), ), 0, REWARD_OF_CLASH,
REWARD_OF_GOAL, REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
state, reward, done, _ = env.step(vector_action_to_integer((RIGHT, )))
self.assertEqual(reward, REWARD_OF_LIVING)
self.assertEqual(done, False)
state, reward, done, _ = env.step(vector_action_to_integer((DOWN, )))
self.assertEqual(reward, REWARD_OF_LIVING + REWARD_OF_GOAL)
self.assertEqual(done, True)
# now, after the game is finished - do another step and make sure it has not effect.
state_after_done, reward_after_done, done_after_done, _ = env.step(
vector_action_to_integer((UP, )))
self.assertEqual(state_after_done, state)
self.assertEqual(done_after_done, True)
self.assertEqual(reward_after_done, 0)
# another time like I'm trying to reach the goal
state_after_done, reward_after_done, done_after_done, _ = env.step(
vector_action_to_integer((DOWN, )))
self.assertEqual(state_after_done, state)
self.assertEqual(done_after_done, True)
self.assertEqual(reward_after_done, 0)
def test_switch_spots_is_a_collision(self):
grid = MapfGrid(['..'])
agents_starts = (
(0, 0),
(0, 1),
)
agents_goals = ((0, 1), (0, 0))
determinstic_env = MapfEnv(grid, 2, agents_starts, agents_goals, 0,
REWARD_OF_CLASH, REWARD_OF_GOAL,
REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
s, r, done, _ = determinstic_env.step(
vector_action_to_integer((RIGHT, LEFT)))
# Assert the game terminated in a collision
self.assertEqual(done, True)
self.assertEqual(r, REWARD_OF_LIVING + REWARD_OF_CLASH)
def lrtdp(
heuristic_function: Callable[[MapfEnv], Callable[[int], float]],
max_iterations: int,
gamma: float,
epsilon: float,
env: MapfEnv,
info: Dict,
) -> Policy:
info['iterations'] = []
# initialize V to an upper bound
env.reset()
initial_state = env.s
policy = LrtdpPolicy(env, gamma, heuristic_function(env))
# follow the greedy policy, for each transition do a bellman update on V
n_iterations = 0
while initial_state not in policy.solved and n_iterations < max_iterations:
n_iterations += 1
s = env.s
start = time.time()
path = []
# LRTDP Trial
while s not in policy.solved:
# env.render()
a = greedy_action(env, s, policy.v, gamma)
path.append((s, a))
# print(f'action {integer_action_to_vector(a, env.n_agents)} chosen')
# time.sleep(1)
new_v_s = sum([
prob * (reward + gamma * policy.v[next_state])
for prob, next_state, reward, done in env.P[s][a]
])
policy.v_partial_table[s] = new_v_s
# simulate the step and sample a new state
s, r, done, _ = env.step(a)
if done:
# add the state to done, the action does not matter
path.append((s, 0))
break
# iteration finished
while path:
state, action = path.pop()
if not check_solved(policy, state, epsilon):
break
info['iterations'].append({
'n_moves': len(path),
'time': round(time.time() - start, 2),
'n_states_solved': len(policy.solved),
'final_reward': r,
})
env.reset()
env.reset()
return policy