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_corridor_switch_no_clash_possible(solver_describer: SolverDescriber):
grid = MapfGrid(['...', '@.@'])
agents_starts = ((0, 0), (0, 2))
agents_goals = ((0, 2), (0, 0))
# These parameters are for making sure that the solver avoids collision regardless of reward efficiency
env = MapfEnv(grid, 2, agents_starts, agents_goals, 0.1, 0.1, -0.001, 0,
-1)
info = {}
policy = solver_describer.func(env, info)
# Assert no conflict is possible
interesting_state = env.locations_to_state(((1, 1), (0, 1)))
expected_possible_actions = [
vector_action_to_integer((STAY, UP)),
vector_action_to_integer((DOWN, UP))
]
assert policy.act(interesting_state) in expected_possible_actions
# Check the policy performance
reward, clashed, _ = evaluate_policy(policy, 100, 100)
# Make sure no clash happened
assert not clashed
# Assert the reward is reasonable
assert reward >= 100.0 * env.reward_of_living
def test_roni_scenario_with_id(self):
# TODO: this test only pass when the first action in the ACTIONS array is STAY,
# fix it to work without the cheating
grid = MapfGrid(['.@.', '.@.', '...'])
agents_starts = ((0, 0), (0, 2))
agents_goals = ((2, 0), (2, 2))
env = MapfEnv(grid, 2, agents_starts, agents_goals, 0.1, 0.01, -1, 1,
-0.1)
independent_joiont_policy = solve_independently_and_cross(
env, [[0], [1]], partial(value_iteration, 1.0), {})
interesting_state = env.locations_to_state(((0, 0), (0, 2)))
# Assert independent_joint_policy just choose the most efficient action
self.assertEqual(independent_joiont_policy.act(interesting_state),
vector_action_to_integer((DOWN, DOWN)))
# Assert no conflict
self.assertEqual(detect_conflict(env, independent_joiont_policy), None)
def test_colliding_agents_state_is_terminal_and_negative_reward(self):
map_file_path = os.path.abspath(
os.path.join(__file__, MAPS_DIR, 'empty-8-8/empty-8-8.map'))
grid = MapfGrid(parse_map_file(map_file_path))
# agents are starting a
agent_starts = ((0, 0), (0, 2))
agents_goals = ((7, 7), (5, 5))
env = MapfEnv(grid, 2, agent_starts, agents_goals, FAIL_PROB,
REWARD_OF_CLASH, REWARD_OF_GOAL, REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
transitions = [
((round(prob, 2), collision), next_state, reward, done)
for ((prob, collision), next_state, reward,
done) in env.P[env.s][vector_action_to_integer((RIGHT, LEFT))]
]
self.assertIn(((0.64, True), env.locations_to_state(
((0, 1), (0, 1))), REWARD_OF_LIVING + REWARD_OF_CLASH, True),
set(transitions))
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_predecessors(self):
"""Assert the predecessors function works correctly.
Create an environment which looks like that:
....
..0.
.1..
3X4 grid.
agent 0 is at (1,2)
agent 1 is at (2,1)
The predecessors for agent 0 are:
1. (0,2)
2. (1,1)
3. (1,3)
4. (2,2)
The predecessors for agent 1 are:
1. (2,2)
2. (2,0)
3. (1,1)
Therefore, the predecessors states of the initial state corresponds to these locations:
1. ((0,2), (2,2))
2. ((0,2), (2,0))
3. ((0,2), (1,1))
4. ((0,2), (2,1))
5. ((1,1), (2,2))
6. ((1,1), (2,0))
7. ((1,1), (1,1))
8. ((1,1), (2,1))
9. ((1,3), (2,2))
10. ((1,3), (2,0))
11. ((1,3), (1,1))
12. ((1,3), (2,1))
13. ((2,2), (2,2))
14. ((2,2), (2,0))
15. ((2,2), (1,1))
16. ((2,2), (2,1))
17. ((1,2), (2,2))
18. ((1,2), (2,0))
19. ((1,2), (1,1))
20. ((1,2), (2,1))
"""
grid = MapfGrid(['....', '....', '....'])
agents_starts = ((1, 2), (2, 1))
# don't care
agents_goals = ((0, 0), (2, 3))
env = MapfEnv(grid, 2, agents_starts, agents_goals, 0, REWARD_OF_CLASH,
REWARD_OF_GOAL, REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
expected_locations = [((0, 2), (2, 2)), ((0, 2), (2, 0)),
((0, 2), (1, 1)), ((0, 2), (2, 1)),
((1, 1), (2, 2)), ((1, 1), (2, 0)),
((1, 1), (1, 1)), ((1, 1), (2, 1)),
((1, 3), (2, 2)), ((1, 3), (2, 0)),
((1, 3), (1, 1)), ((1, 3), (2, 1)),
((2, 2), (2, 2)), ((2, 2), (2, 0)),
((2, 2), (1, 1)), ((2, 2), (2, 1)),
((1, 2), (2, 2)), ((1, 2), (2, 0)),
((1, 2), (1, 1)), ((1, 2), (2, 1))]
expected_states = [
env.locations_to_state(loc) for loc in expected_locations
]
self.assertSetEqual(set(expected_states), set(env.predecessors(env.s)))
def test_transition_function_empty_grid(self):
"""Assert the basic steps are done right.
* Define an empty 8x8 environment with two agents starting at (0,0),(7,7) and desire to reach (0,2),(5,7).
* Perform one (RIGHT, UP) step and assert that the transitions are correct.
* Perform another (RIGHT, UP) step from the most probable next state from before ((0,1), (6,7)) and assert
that the transitions are correct again, including the terminal one.
"""
map_file_path = os.path.abspath(
os.path.join(__file__, MAPS_DIR, 'empty-8-8/empty-8-8.map'))
grid = MapfGrid(parse_map_file(map_file_path))
# agents are starting a
agent_starts = ((0, 0), (7, 7))
agents_goals = ((0, 2), (5, 7))
env = MapfEnv(grid, 2, agent_starts, agents_goals, FAIL_PROB,
REWARD_OF_CLASH, REWARD_OF_GOAL, REWARD_OF_LIVING,
OptimizationCriteria.Makespan)
first_step_transitions = [
((round(prob, 2), collision), next_state, reward, done)
for ((prob, collision), next_state, reward,
done) in env.P[env.s][vector_action_to_integer((RIGHT, UP))]
]
self.assertEqual(
set(first_step_transitions),
{
((0.64, False), env.locations_to_state(
((0, 1), (6, 7))), REWARD_OF_LIVING, False), # (RIGHT, UP)
((0.08, False), env.locations_to_state(
((1, 0), (6, 7))), REWARD_OF_LIVING, False), # (DOWN, UP)
((0.08, False), env.locations_to_state(
((0, 0), (6, 7))), REWARD_OF_LIVING, False), # (UP, UP)
((0.08, False), env.locations_to_state(
((0, 1),
(7, 7))), REWARD_OF_LIVING, False), # (RIGHT, RIGHT)
((0.08, False), env.locations_to_state(
((0, 1),
(7, 6))), REWARD_OF_LIVING, False), # (RIGHT, LEFT)
((0.01, False), env.locations_to_state(
((1, 0),
(7, 7))), REWARD_OF_LIVING, False), # (DOWN, RIGHT)
((0.01, False), env.locations_to_state(
((1, 0),
(7, 6))), REWARD_OF_LIVING, False), # (DOWN, LEFT)
((0.01, False), env.locations_to_state(
((0, 0), (7, 7))), REWARD_OF_LIVING, False), # (UP, RIGHT)
((0.01, False), env.locations_to_state(
((0, 0), (7, 6))), REWARD_OF_LIVING, False) # (UP, LEFT)
})
wish_state = env.locations_to_state(((0, 1), (6, 7)))
second_step_transitions = [
((round(prob, 2), collision), next_state, reward, done)
for ((prob, collision), next_state, reward,
done) in env.P[wish_state][vector_action_to_integer((RIGHT,
UP))]
]
# [(0,0), (7,7)]
self.assertEqual(
set(second_step_transitions),
{
((0.64, False), env.locations_to_state(
((0, 2),
(5, 7))), REWARD_OF_LIVING + REWARD_OF_GOAL, True),
# (RIGHT, UP)
((0.08, False), env.locations_to_state(
((1, 1), (5, 7))), REWARD_OF_LIVING, False), # (DOWN, UP)
((0.08, False), env.locations_to_state(
((0, 1), (5, 7))), REWARD_OF_LIVING, False), # (UP, UP)
((0.08, False), env.locations_to_state(
((0, 2),
(6, 7))), REWARD_OF_LIVING, False), # (RIGHT, RIGHT)
((0.08, False), env.locations_to_state(
((0, 2),
(6, 6))), REWARD_OF_LIVING, False), # (RIGHT, LEFT)
((0.01, False), env.locations_to_state(
((1, 1),
(6, 7))), REWARD_OF_LIVING, False), # (DOWN, RIGHT)
((0.01, False), env.locations_to_state(
((1, 1),
(6, 6))), REWARD_OF_LIVING, False), # (DOWN, LEFT)
((0.01, False), env.locations_to_state(
((0, 1), (6, 7))), REWARD_OF_LIVING, False), # (UP, RIGHT)
((0.01, False), env.locations_to_state(
((0, 1), (6, 6))), REWARD_OF_LIVING, False) # (UP, LEFT)
})
