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Programming Assignment 2 (Game Tree Search)

Programming Assignment 2: Game Tree Search
(Individual assignment)
Modified version of UC Berkeley CSC188 Project 2 (https://inst.eecs.berkeley.edu/~cs188
/fa20/project2/)
Table of Contents
Introduction
Welcome
Q1: Reflex Agent
Q2: Minimax
Q3: Alpha-Beta Pruning
Q4: Expectimax
Q5: Evaluation Function
Pacman, now with ghosts.
Programming Assignment 2 (Game Tree Search) https://q.utoronto.ca/courses/181147/assignments/450336
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Minimax, Expectimax,
Evaluation.
Introduction
In this project, you will design agents for the classic version of Pacman, including ghosts. Along the
way, you will implement both minimax and expectimax search and try your hand at evaluation
function design.
The code base has not changed much from the previous project, but please start with the provided
zip, rather than intermingling files from Assignment 1. You can also use code you wrote in
Assignment 1, but make sure that you include that code in the file multiAgents.py since that is the
only file that will be submitted.
As in project 1, this project includes an autograder for you to grade your answers on your machine.
This can be run on all questions with the command:
python3 autograder.py
It can be run for one particular question, such as q2, by:
python3 autograder.py -q q2
It can be run for one particular test by commands of the form:
python3 autograder.py -t test_cases/q2/0-small-tree
By default, the autograder displays graphics with the -t option, but doesn’t with the -q option. You
can force graphics by using the –graphics flag, or force no graphics by using the –no-graphics
flag.
The code for this project contains the following files, available as a zip archive.
Files you’ll edit:
multiAgents.py Where all of your multi-agent search agents and helper code
will reside.
Files you should not change:
pacman.py
The main file that runs Pacman games. This file also
describes a Pacman GameState type, which you will use
extensively in this project
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game.py
The logic behind how the Pacman world works. This file
describes several supporting types like AgentState, Agent,
Direction, and Grid.
util.py Useful data structures for implementing search algorithms.
Supporting files that you can
probably ignore
graphicsDisplay.py Graphics for Pacman
graphicsUtils.py Support for Pacman graphics
textDisplay.py ASCII graphics for Pacman
ghostAgents.py Agents to control ghosts
keyboardAgents.py Keyboard interfaces to control Pacman
layout.py Code for reading layout files and storing their contents
autograder.py Project autograder
testParser.py Parses autograder test and solution files
testClasses.py General autograding test classes
test_cases/ Directory containing the test cases for each question
multiagentTestClasses.py Project 2 specific autograding test classes
Files to Edit and Submit: You will fill in portions of multiAgents.py during the assignment. You may
also add other functions and code to this file so as to create a modular implementation. You will
submit this file with your modifications. Please do not change the other files in this distribution Markus
will not allow you to submit any other files, so if your implementation uses other files or changes to
the original files it will not work during the marking phase.
Evaluation: Your code will be autograded for technical correctness. Please do not change the names
of any provided functions or classes within the code, or you will wreak havoc on the autograder. The
mark given to you by the autograder might be changed if we find any issues with our submission.
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Getting Help: You are not alone! If you find yourself stuck on something, contact the course staff for
help. There will be scheduled help sessions (to be announced), the piazza discussion forum will be
monitored and questions answered, and you can also ask questions about the assignment during
office hours. These things are for your support; please take advantage of them. If you can’t make our
office hours, let us know and we will arrange a different appointment. We want the assignment to be
rewarding and instructional, not frustrating and demoralizing. But, we don’t know when or how to help
unless you ask.
Piazza Discussion: Please be careful not to post spoilers.
What to Submit
You will be using MarkUs to submit your assignment. You will submit one file:
1. Your modified multiAgentS.py
Note: In the various parts below we ask a number of questions. You do not have to hand in answers
to these questions, rather these questions are designed to help you understand the material.
Multi-Agent Pacman
First, play a game of classic Pacman:
python3 pacman.py
Now, run the provided ReflexAgent in multiAgents.py :
python3 pacman.py -p ReflexAgent
Note that it plays quite poorly even on simple layouts:
python3 pacman.py -p ReflexAgent -l testClassic
Inspect its code (in multiAgents.py ) and make sure you understand what it’s doing.
Question 1 (4 points): Reflex Agent
Don’t spend too much time on this question, as the meat of the project lies ahead.
Improve the ReflexAgent in multiAgents.py to play respectably. The provided reflex agent code
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provides some helpful examples of methods that query the GameState for information. A capable
reflex agent will have to consider both food locations and ghost locations to perform well. Your agent
should easily and reliably clear the testClassic layout:
python3 pacman.py -p ReflexAgent -l testClassic
Try out your reflex agent on the default mediumClassic layout with one ghost or two (and animation off
to speed up the display):
python3 pacman.py –frameTime 0 -p ReflexAgent -k 1
python3 pacman.py –frameTime 0 -p ReflexAgent -k 2
How does your agent fare? It will likely often die with 2 ghosts on the default board, unless your
evaluation function is quite good.
Note: As features, try the reciprocal of important values (such as distance to food) rather than just the
values themselves.
Note: The evaluation function you’re writing is evaluating state-action pairs (i.e., how good is it to
perform this action in this state); in later parts of the project, you’ll be evaluating states (i.e., how good
is it to be in this state). In some sense these are the same things except for the signature of the
evaluationFunction. In particular, an evaluation function that determines the value or merit of a state
can also be used to determine which action to execute by examining the state that the action would
transition to: if the action transitions to a high value state it is better to do the action than if the action
transitions to a low value state.
Options: Default ghosts are random; you can also play for fun with slightly smarter directional ghosts
using -g DirectionalGhost . If the randomness is preventing you from telling whether your agent is
improving, you can use -f to run with a fixed random seed (same random choices every game). You
can also play multiple games in a row with -n . Turn off graphics with -q to run lots of games quickly.
Grading: the autograder runs your agent on the openClassic layout 10 times. You will receive 0 points
if your agent times out, or never wins. You will receive 1 point if your agent wins at least 5 times, or 2
points if your agent wins all 10 games. You will receive an addition 1 point if your agent’s average
score is greater than 500, or 2 points if it is greater than 1000. You can try your agent out under these
conditions with
python3 autograder.py -q q1
To run it without graphics, use:
python3 autograder.py -q q1 –no-graphics
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Question 2 (5 points): Minimax
Now you will write an adversarial search agent in the provided MinimaxAgent class stub in
multiAgents.py . Your minimax search must work with any number of ghosts. In particular, for every
max layer (where the pacman moves) your minimax tree will have multiple min layers, one for each
ghost.
gameState does not keep track of whose turn it is to play, you will have to keep track of that in your
minimax search. In particular, the pacman (MAX) plays first, followed by each ghost getting a turn;
then the pacman plays again, followed by each ghost getting a turn, etc.
Score the leaves of your minimax tree with the supplied self.evaluationFunction , which defaults to
scoreEvaluationFunction . You will have to implement a depth-bound, so the leaves of your minimax
tree could be either terminal or non-terminal nodes. Hence, self.evaluationFunction will act as the
game utility function, except that it will be called both on terminal and non-terminal nodes. The utility
of terminal nodes is can be obtained from the .getScore() method, while on non-terminal nodes the
evaluation is heuristic.
Terminal nodes are nodes where either gameState.isWin() or gameState.isLose() is true. However,
the leaves of your tree search might also be non-terminal nodes.
Your Minimax (and all other game tree search algorithms you will implement) must utilize a depthbound. The depth-bound you must operate under is stored in the variable self.depth . The depthbound specifies number of times the pacman (MAX) gets to play. For example, if the depth-bound is
2, then MAX gets to make 2 moves and all of the ghosts get 2 moves each. When MAX is about to
play a 3rd time, your search will terminate: instead of considering the possible 3rd moves of MAX it
will simply return the value of self.evaluationFunction treating this node as if it was a terminal node.
As another example, if the depth-bound is zero, your search will immediately return the
self.evaluationFunction value of the root node.
Make sure your minimax code makes reference to the two variables, self.depth and
self.evaluationFunction where appropriate as these variables will vary in response to command line
options.
Grading: We will be checking your code to determine whether it explores the correct number of game
states. This is the only way reliable way to detect some very subtle bugs in implementations of
minimax. As a result, the autograder will be very picky about how many times you call
GameState.generateSuccessor . If you call it any more or less than necessary, the autograder will
complain. To test and debug your code, run
python3 autograder.py -q q2
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This will show what your algorithm does on a number of small trees, as well as a pacman game. To
run it without graphics, use:
python3 autograder.py -q q2 –no-graphics
Hints and Observations
The correct implementation of minimax will lead to Pacman losing the game in some tests. This is
not a problem: as it is correct behaviour, it will pass the tests.
The evaluation function for the pacman test in this part is already written
( self.evaluationFunction ). You shouldn’t change this function, but recognize that now we’re
evaluating *states* rather than actions, as we were for the reflex agent. Look-ahead agents
evaluate future states whereas reflex agents evaluate actions from the current state.
The minimax values of the initial state in the minimaxClassic layout are 9, 8, 7, -492 for depths 1,
2, 3 and 4 respectively. Note that your minimax agent will often win (665/1000 games for us)
despite the dire prediction of depth 4 minimax.
python3 pacman.py -p MinimaxAgent -l minimaxClassic -a depth=4
Pacman is always agent 0, and the agents move in order of increasing agent index.
All states in minimax should be GameStates , either passed in to getAction or generated via
GameState.generateSuccessor . In this project, you will not be abstracting to simplified states.
On larger boards such as openClassic and mediumClassic (the default), you’ll find Pacman to be
good at not dying, but quite bad at winning. He’ll often thrash around without making progress. He
might even thrash around right next to a dot without eating it because he doesn’t know where he’d
go after eating that dot. Don’t worry if you see this behavior, question 5 will clean up all of these
issues.
When Pacman believes that his death is unavoidable, he will try to end the game as soon as
possible because of the constant penalty for living. Sometimes, this is the wrong thing to do with
random ghosts, but minimax agents always assume the worst:
python pacman.py -p MinimaxAgent -l trappedClassic -a depth=3
Make sure you understand why Pacman rushes the closest ghost in this case.
Question 3 (5 points): Alpha-Beta Pruning
Make a new agent that uses alpha-beta pruning to more efficiently explore the minimax tree, in
AlphaBetaAgent . Again, your algorithm must use the depth-bound specified in self.depth and
evaluate its leaf nodes with self.evaluationFunction .
You should see a speed-up (perhaps depth 3 alpha-beta will run as fast as depth 2 minimax). Ideally,
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depth 3 on smallClassic should run in just a few seconds per move or faster.
python pacman.py -p AlphaBetaAgent -a depth=3 -l smallClassic
The AlphaBetaAgent minimax values should be identical to the MinimaxAgent minimax values. Again,
the minimax values of the initial state in the minimaxClassic layout are 9, 8, 7 and -492 for depths 1,
2, 3 and 4 respectively.
Grading: Because we check your code to determine whether it explores the correct number of states,
it is important that you perform alpha-beta pruning without reordering children. In other words,
successor states should always be processed in the order returned by GameState.getLegalActions .
Again, do not call GameState.generateSuccessor more than necessary.
To test and debug your code, run
python3 autograder.py -q q3
This will show what your algorithm does on a number of small trees, as well as a pacman game. To
run it without graphics, use:
python3 autograder.py -q q3 –no-graphics
The correct implementation of alpha-beta pruning will lead to Pacman losing some of the tests. This is
not a problem: as it is correct behaviour, it will pass the tests.
Question 4 (5 points): Expectimax
Minimax and alpha-beta are great, but they both assume that you are playing against an adversary
who makes optimal decisions. As anyone who has ever won tic-tac-toe can tell you, this is not always
the case. In this question you will implement the ExpectimaxAgent , which is useful for modeling
probabilistic behavior of agents who may make suboptimal choices.
As with the search and constraint satisfaction problems covered in this class, the beauty of these
algorithms is their general applicability. To expedite your own development, we’ve supplied some test
cases based on generic trees. You can debug your implementation on small the game trees using the
command:
python3 autograder.py -q q4
Debugging on these small and manageable test cases is recommended and will help you to find bugs
quickly. Make sure when you compute your averages that you use floats. Integer division in
Python truncates, so that 1/2 = 0 , unlike the case with floats where 1.0/2.0 = 0.5 .
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Once your algorithm is working on small trees, you can observe its success in Pacman. Random
ghosts are of course not optimal minimax agents, and so modeling them with minimax search may
not be appropriate. ExpectimaxAgent , will no longer take the min over all ghost actions, but the
expectation according to your agent’s model of how the ghosts act. To simplify your code, assume
you will only be running against an adversary which chooses amongst their getLegalAction s
uniformly at random.
To see how the ExpectimaxAgent behaves in Pacman, run:
python3 pacman.py -p ExpectimaxAgent -l minimaxClassic -a depth=3
You should now observe a more cavalier approach in close quarters with ghosts. In particular, if
Pacman perceives that he could be trapped but might escape to grab a few more pieces of food, he’ll
at least try. Investigate the results of these two scenarios:
python3 pacman.py -p AlphaBetaAgent -l trappedClassic -a depth=3 -q -n 10
python3 pacman.py -p ExpectimaxAgent -l trappedClassic -a depth=3 -q -n 10
You should find that your ExpectimaxAgent wins about half the time, while your AlphaBetaAgent always
loses. Make sure you understand why the behavior here differs from the minimax case.
The correct implementation of expectimax will lead to Pacman losing some of the tests. This is not a
problem: as it is correct behaviour, it will pass the tests.
Question 5 (6 points): Evaluation Function
Write a better evaluation function for pacman in the provided function betterEvaluationFunction . The
evaluation function should evaluate states, rather than actions like your reflex agent evaluation
function did. You may use any tools at your disposal for evaluation, including your search code from
the last project. With depth 2 search, your evaluation function should clear the smallClassic layout
with one random ghost more than half the time and still run at a reasonable rate (to get full credit,
Pacman should be averaging around 1000 points when he’s winning).
python autograder.py -q q5
Grading: the autograder will run your agent on the smallClassic layout 10 times. We will assign
points to your evaluation function in the following way:
If you win at least once without timing out the autograder, you receive 1 points. Any agent not
satisfying these criteria will receive 0 points.
+1 for winning at least 5 times, +2 for winning all 10 times
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+1 for an average score of at least 500, +2 for an average score of at least 1000 (including scores
on lost games)
+1 if your games take on average less than 30 seconds on the autograder machine. The
autograder is run on the teach.cs machines which have a fair amount of resources, but your
personal computer could be far less performant or far more performant. You can use your
teach.cs login to run your program on the teach.cs machines.
The additional points for average score and computation time will only be awarded if you win at
least 5 times.
Hints and Observations
As for your reflex agent evaluation function, you may want to use the reciprocal of important
values (such as distance to food) rather than the values themselves.
One way you might want to write your evaluation function is to use a linear combination of
features. That is, compute values for features about the state that you think are important, and
then combine those features by multiplying them by different values and adding the results
together. You might decide what to multiply each feature by based on how important you think it
is.
Submission
You’re not done yet! You will also need to submit your code to MarkUs.
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