Programming Assignment 4 (Who you going to call?)

Due Wednesday by 11:59pm Points 25 Available after Nov 18 at 12am

Asgn 4: Ghostbusters

Modified version of UC berkeley CSC188 Project 4 (https://inst.eecs.berkeley.edu/~cs188

/fa20/project4/)

Table of Contents

Introduction

Ghostbusters and BNs

Question 1 (2 points): Observation Probability

Question 2 (3 points): Exact Inference Observation

Question 3 (3 points): Exact Inference with Time Elapse

Question 4 (2 points): Exact Inference Full Test

Question 5 (2 points): Approximate Inference Initialization and Beliefs

Question 6 (3 points): Approximate Inference Observation

Question 7 (3 points): Approximate Inference with Time Elapse

Question 8 (1 points): Joint Particle Filter Observation

Question 9 (3 points): Joint Particle Filter Observation

Question 10 (3 points): Joint Particle Filter Time Elapse and Full Test

Submission

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I can hear you, ghost.

Running won’t save you from my

Particle filter!

Introduction

Pacman spends his life running from ghosts, but things were not always so. Legend has it that many

years ago, Pacman’s great grandfather Grandpac learned to hunt ghosts for sport. However, he was

blinded by his power and could only track ghosts by their banging and clanging.

In this project, you will design Pacman agents that use sensors to locate and eat invisible ghosts.

You’ll advance from locating single, stationary ghosts to hunting packs of multiple moving ghosts with

ruthless efficiency.

The code for this project contains the following files, available as a zip archive.

Files you’ll edit:

bustersAgents.py Agents for playing the Ghostbusters variant of Pacman.

inference.py Code for tracking ghosts over time using their sounds.

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Files you will not edit:

busters.py The main entry to Ghostbusters (replacing Pacman.py)

bustersGhostAgents.py New ghost agents for Ghostbusters

distanceCalculator.py Computes maze distances

game.py Inner workings and helper classes for Pacman

ghostAgents.py Agents to control ghosts

graphicsDisplay.py Graphics for Pacman

graphicsUtils.py Support for Pacman graphics

keyboardAgents.py Keyboard interfaces to control Pacman

layout.py Code for reading layout files and storing their contents

util.py Utility functions

Files to Edit and Submit: You will fill in portions of bustersAgents.py and inference.py during the

assignment. Please do not change the other files in this distribution.

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. Also

do not change any of the other files, as your code will be tested against the original versions of these

files. We may also run some additional tests on your code, in addition to the tests run by the

autograder supplied in the zip file. Nevertheless, the marks given by the autograder should be a good

indication of the final mark you will obtain.

Getting Help: You are not alone! If you find yourself stuck on something, contact the course staff for

help. Office hours, section, and the discussion forum are there for your support; please use them. If

you can’t make our office hours, let us know and we will schedule more. We want these projects 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.

Ghostbusters and BNs

In this assignment the goal is to hunt down scared but invisible ghosts. Pacman, ever resourceful, is

equipped with sonar (ears) that provides noisy readings of the Manhattan distance to each ghost. The

game ends when Pacman has eaten all the ghosts. To start, try playing a game yourself using the

keyboard.

python3 busters.py

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The blocks of color indicate where the each ghost could possibly be, given the noisy distance

readings provided to Pacman. The noisy distances at the bottom of the display are always nonnegative, and always within 7 of the true distance. The probability of a distance reading decreases

exponentially with its difference from the true distance.

Your primary task in this project is to implement inference to track the ghosts. For the keyboard based

game above, a crude form of inference was implemented for you by default: all squares in which a

ghost could possibly be are shaded by the color of the ghost. Naturally, we want a better estimate of

the ghost’s position. Fortunately, Bayes Nets provide us with powerful tools for making the most of the

information we have. Throughout the rest of this project, you will implement algorithms for performing

both exact and approximate inference using Bayes Nets. The project is challenging, so we do

encourage you to start early and seek help when necessary.

While watching and debugging your code with the autograder, it will be helpful to have some

understanding of what the autograder is doing. There are 2 types of tests in this project, as

differentiated by their .test files found in the subdirectories of the test_cases folder. For tests of

class DoubleInferenceAgentTest , you will see visualizations of the inference distributions generated

by your code, but all Pacman actions will be pre-selected according to the actions of the staff

implementation. This is necessary to allow comparison of your distributions with the staff’s

distributions. The second type of test is GameScoreTest , in which your BustersAgent will actually

select actions for Pacman and you will watch your Pacman play and win games.

As you implement and debug your code, you may find it useful to run a single test at a time. In order

to do this you will need to use the -t flag with the autograder. For example if you only want to run

the first test of question 1, use:

python3 autograder.py -t test_cases/q1/1-ObsProb

In general, all test cases can be found inside test_cases/q* .

For this project, it is possible sometimes for the autograder to time out if running the tests with

graphics. To accurately determine whether or not your code is efficient enough, you should run the

tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

DiscreteDistribution Class

Throughout this project, we will be using the DiscreteDistribution class defined in inference.py to

model belief distributions and weight distributions. This class is an extension of the built-in Python3

dictionary class, where the keys are the different discrete elements of our distribution, and the

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corresponding values are proportional to the belief or weight that the distribution assigns that

element.

The class contains a number of useful methods. One of them is the normalize method, which

normalizes the values in the distribution to sum to one, but keeps the proportions of the values the

same.

Another useful method is the sample method, which draws a sample from the distribution, where the

probability that a key is sampled is proportional to its corresponding value. This method can be called

on any distribution that does not have all of its values as zero.

Question 1 (2 points): Observation Probability

In this question, you will implement the getObservationProb method in the InferenceModule base

class in inference.py . This method takes in an observation (which is a noisy reading of the distance

to the ghost), Pacman’s position, the ghost’s position, and the position of the ghost’s jail, and returns

the probability of the noisy distance reading given Pacman’s position and the ghost’s position. In

other words, we want to return

P(noisyDistance | pacmanPosition, ghostPosition) .

Note that the distance sensor returns a noisyDistance but does not return a direction. For example, if

noisyDistance is 10 then the sensor thinks that the ghost is Manhattan distance 10 from the

packman. So this function, is returning the probability that the sensor returns noisyDistance given

that the pacman is actually located at pacmanPosition and the ghost is actually located at

ghostPosition .

The distance sensor has a probability distribution over distance readings (i.e., particular

noisyDistance readings) given the true distance from Pacman to the ghost. This distribution is given

by the function busters.getObservationProbability(noisyDistance, trueDistance) , which returns

P(noisyDistance | trueDistance) and is provided for you. You should use this function to help you

write this function, and use the provided manhattanDistance function to find the true distance between

Pacman’s location and the ghost’s location.

There is, however, one special case that has to be handled. This special case involves when the

pacman captures a ghost and send it to the jail location (i.e., when the ghost position is equal to the

jail position). The distance sensor will return None as its noisyDistance value if and only if the ghost

position is equal to the jail position. That is, when ghost position is equal to the jail position, the

probability of noisyDistance==None is one, and every other values of noisyDistance has probability

zero. Furthermore, noisyDistance==None has probability 0 if the goal position is not equal to the jail

position.

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To test your code and run the autograder for this question:

python3 autograder.py -q q1

As a general note, it is possible for some of the autograder tests to take a long time to run for this

project, and you will have to exercise patience. As long as the autograder doesn’t time out, you

should be fine (provided that you actually pass the tests).

Question 2 (3 points): Exact Inference Observation

In this question, you will implement the observeUpdate method in ExactInference class of

inference.py to correctly update the agent’s belief distribution over ghost positions given an

observation from Pacman’s sensors. You are implementing the online belief update for observing new

evidence. The observeUpdate method should, for this problem, update the belief at every position on

the map after receiving a sensor reading. You should iterate your updates over the variable

self.allPositions which includes all legal positions plus the special jail position. Beliefs represent

the probability that the ghost is at a particular location, and are stored as a DiscreteDistribution

object in a field called self.beliefs , which you should update.

Before typing any code, write down the equation of the inference problem you are trying to solve. You

should use the function self.getObservationProb that you wrote in the last question, which returns the

probability of an observation given Pacman’s position, a potential ghost position, and the jail position.

You can obtain Pacman’s position using gameState.getPacmanPosition() , and the jail position using

self.getJailPosition() .

In the Pacman display, high posterior beliefs are represented by bright colors, while low beliefs are

represented by dim colors. You should start with a large cloud of belief that shrinks over time as more

evidence accumulates. As you watch the test cases, be sure that you understand how the squares

converge to their final coloring.

Note: your busters agents have a separate inference module for each ghost they are tracking. That’s

why if you print an observation inside the observeUpdate function, you’ll only see a single number

even though there may be multiple ghosts on the board.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q2

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q2 –no-graphics

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*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 3 (3 points): Exact Inference with Time Elapse

In the previous question you implemented belief updates for Pacman based on his observations.

Fortunately, Pacman’s observations are not his only source of knowledge about where a ghost may

be. Pacman also has knowledge about the ways that a ghost may move; namely that the ghost can

not move through a wall or more than one space in one time step.

To understand why this is useful to Pacman, consider the following scenario in which there is Pacman

and one Ghost. Pacman receives many observations which indicate the ghost is very near, but then

one which indicates the ghost is very far. The reading indicating the ghost is very far is likely to be the

result of a buggy sensor. Pacman’s prior knowledge of how the ghost may move will decrease the

impact of this reading since Pacman knows the ghost could not move so far in only one move.

In this question, you will implement the elapseTime method in ExactInference . The elapseTime step

should, for this problem, update the belief at every position on the map after one time step elapsing.

Your agent has access to the action distribution for the ghost through self.getPositionDistribution .

In order to obtain the distribution over new positions for the ghost, given its previous position, use this

line of code:

newPosDist = self.getPositionDistribution(gameState, oldPos)

Where oldPos refers to the previous ghost position. newPosDist is a DiscreteDistribution object,

where for each position p in self.allPositions , newPosDist[p] is the probability that the ghost is at

position p at time t + 1 , given that the ghost is at position oldPos at time t . Note that this call can

be fairly expensive, so if your code is timing out, one thing to think about is whether or not you can

reduce the number of calls to self.getPositionDistribution .

Before typing any code, write down the equation of the inference problem you are trying to solve. In

order to test your predict implementation separately from your update implementation in the previous

question, this question will not make use of your update implementation.

Since Pacman is not observing the ghost, this means the ghost’s actions will not impact Pacman’s

beliefs. Over time, Pacman’s beliefs will come to reflect places on the board where he believes

ghosts are most likely to be given the geometry of the board and what Pacman already knows about

their valid movements.

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For the tests in this question we will sometimes use a ghost with random movements and other times

we will use the GoSouthGhost . This ghost tends to move south so over time, and without any

observations, Pacman’s belief distribution should begin to focus around the bottom of the board. To

see which ghost is used for each test case you can look in the .test files.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q3

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q3 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

As you watch the autograder output, remember that lighter squares indicate that pacman believes a

ghost is more likely to occupy that location, and darker squares indicate a ghost is less likely to

occupy that location. For which of the test cases do you notice differences emerging in the shading of

the squares? Can you explain why some squares get lighter and some squares get darker?

Question 4 (2 points): Exact Inference Full Test

Now that Pacman knows how to use both his prior knowledge and his observations when figuring out

where a ghost is, he is ready to hunt down ghosts on his own. This question will use your

observeUpdate and elapseTime implementations together, along with a simple greedy hunting strategy

which you will implement for this question. In the simple greedy strategy, Pacman assumes that each

ghost is in its most likely position according to his beliefs, then moves toward the closest ghost. Up to

this point, Pacman has moved by randomly selecting a valid action.

Implement the chooseAction method in GreedyBustersAgent in bustersAgents.py . Your agent should

first find the most likely position of each remaining uncaptured ghost, then choose an action that

minimizes the maze distance to the closest ghost.

To find the maze distance between any two positions pos1 and pos2 , use

self.distancer.getDistance(pos1, pos2) . To find the successor position of a position after an action:

successorPosition = Actions.getSuccessor(position, action)

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You are provided with livingGhostPositionDistributions , a list of DiscreteDistribution objects

representing the position belief distributions for each of the ghosts that are still uncaptured.

If correctly implemented, your agent should win the game in q4/3-gameScoreTest with a score greater

than 700 at least 8 out of 10 times. Note: the autograder will also check the correctness of your

inference directly, but the outcome of games is a reasonable sanity check.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q4

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

code>python3 autograder.py -q q4 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 5 (2 points): Approximate Inference

Initialization and Beliefs

Approximate inference is very trendy among ghost hunters this season. For the next few questions,

you will implement a particle filtering algorithm for tracking a single ghost.

First, implement the functions initializeUniformly and getBeliefDistribution in the ParticleFilter

class in inference.py . A particle (sample) is a ghost position in this inference problem. Note that, for

effective performance from a relatively small number of particles (as we use here) it is important that

the particles be evenly (not randomly) distributed across legal positions in order to ensure a uniform

prior. (A randomly placement of the particles is unlikely to be evenly distributed unless there is a very

large number of particles). Consider placing 103 particles evenly in 10 different legal positions. We

could place ten particles in each position and then remaining 3 can placed in the first, second, and

third positions. Think about how you can use the mod operator to achieve this in

initializeUniformly .

Note that the variable you store your particles in must be a list. A list is simply a collection of

unweighted variables (positions in this case). Storing your particles as any other data type, such as a

dictionary, is incorrect and will produce errors. The getBeliefDistribution method then takes the list

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of particles and converts it into a DiscreteDistribution object.

To test your code and run the autograder for this question:

python3 autograder.py -q q5

Question 6 (3 points): Approximate Inference

Observation

Next, we will implement the observeUpdate method in the ParticleFilter class in inference.py . This

method constructs a weight distribution over self.particles where the weight of a particle is the

probability of the observation given Pacman’s position and that particle location. Then, we resample

from this weighted distribution to construct our new list of particles.

You should again use the function self.getObservationProb to find the probability of an observation

given Pacman’s position, a potential ghost position, and the jail position. The sample method of the

DiscreteDistribution class will also be useful. As a reminder, you can obtain Pacman’s position

using gameState.getPacmanPosition() , and the jail position using self.getJailPosition() .

There is one special case that a correct implementation must handle. When all particles receive

zero weight, the list of particles should be reinitialized by calling initializeUniformly . The total

method of the DiscreteDistribution may be useful.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q6

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q6 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 7 (3 points): Approximate Inference with Time

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Elapse

Implement the elapseTime function in the ParticleFilter class in inference.py . This function should

construct a new list of particles that corresponds to each existing particle in self.particles

advancing a time step, and then assign this new list back to self.particles . When complete, you

should be able to track ghosts nearly as effectively as with exact inference.

Note that in this question, we will test both the elapseTime function in isolation, as well as the full

implementation of the particle filter combining elapseTime and observe .

As in the elapseTime method of the ExactInference class, you should use:

newPosDist = self.getPositionDistribution(gameState, oldPos)

This line of code obtains the distribution over new positions for the ghost, given its previous position

( oldPos ). The sample method of the DiscreteDistribution class will also be useful.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q7

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q7 –no-graphics

Note that even with no graphics, this test may take several minutes to run.

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 8 (1 points): Joint Particle Filter Observation

So far, we have tracked each ghost independently, which works fine for the default RandomGhost or

more advanced DirectionalGhost . However, the prized DispersingGhost chooses actions that avoid

other ghosts. Since the ghosts’ transition models are no longer independent, all ghosts must be

tracked jointly in a dynamic Bayes net!

The Bayes net has the following structure, where the hidden variables G represent ghost positions

and the emission variables E are the noisy distances to each ghost. This structure can be extended to

more ghosts, but only two (a and b) are shown below.

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You will now implement a particle filter that tracks multiple ghosts simultaneously. Each particle will

represent a tuple of ghost positions that is a sample of where all the ghosts are at the present time.

The code is already set up to extract marginal distributions about each ghost from the joint inference

algorithm you will create, so that belief clouds about individual ghosts can be displayed.

Complete the initializeUniformly method in JointParticleFilter in inference.py . Your initialization

should be consistent with a uniform prior. You may find the Python itertools package helpful.

Specifically, look at itertools.product to get an implementation of the Cartesian product. However,

note that, if you use this, the permutations are not returned in a random order. Therefore, must select

your particles from this list of possible joint positions of the ghosts so that you get a uniformly

distributed set of particles.

It is important to note that unlike q5 in q8 some tests have self.numParticles being less than the total

number of joint positions of the ghosts. Therefore the technique you used in q5 for placing

particles will not work here. But a similar technique can be used if you first randomly shuffle the list

of possible joint positions before you apply the technique of q5. For example, if self.numParticles=10

and there are 100 different joint positions of the ghosts, you will select joint positions 1 to 10 for your

particles. However, since these joint positons were randomly shuffled, your particles will be randomly

placed even if you are not placing a particle in every possible joint position.

As before, use self.legalPositions to obtain a list of positions a ghost may occupy. Also as before,

the variable you store your particles in must be a list.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q8

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If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q8 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 9 (3 points): Joint Particle Filter Observation

In this question, you will complete the observeUpdate method in the JointParticleFilter class of

inference.py . A correct implementation will weight and resample the entire list of particles based on

the observation of all ghost distances.

To loop over all the ghosts, use:

for i in range(self.numGhosts):

…

You can still obtain Pacman’s position using gameState.getPacmanPosition() , but to get the jail position

for a ghost, use self.getJailPosition(i) , since now there are multiple ghosts each with their own jail

positions.

Your implementation should also again handle the special case when all particles receive zero

weight. In this case, self.particles should be recreated from the prior distribution by calling

initializeUniformly .

As in the update method for the ParticleFilter class, you should again use the function

self.getObservationProb to find the probability of an observation given Pacman’s position, a potential

ghost position, and the jail position. The sample method of the DiscreteDistribution class will also

be useful.

To run the autograder for this question and visualize the output:

python3 autograder.py -q q9

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q9 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

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with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Question 10 (3 points): Joint Particle Filter Time Elapse

and Full Test

Complete the elapseTime method in JointParticleFilter in inference.py to resample each particle

correctly for the Bayes net. In particular, each ghost should draw a new position conditioned on the

positions of all the ghosts at the previous time step.

As in the last question, you can loop over the ghosts using:

for i in range(self.numGhosts):

…

Then, assuming that i refers to the index of the ghost, to obtain the distributions over new positions

for that single ghost, given the list ( prevGhostPositions ) of previous positions of all of the ghosts, use:

newPosDist = self.getPositionDistribution(gameState, prevGhostPositions, i, self.ghostAgents[i])

Note that completing this question involves grading both question 9 and question 10. Since these

questions involve joint distributions, they require more computational power (and time) to grade, so

please be patient!

As you run the autograder note that q10/1-JointParticlePredict and q10/2-JointParticlePredict test

your predict implementations only, and q10/3-JointParticleFull tests both your predict and

update implementations. Notice the difference between test 1 and test 3. In both tests, pacman

knows that the ghosts will move to the sides of the gameboard. What is different between the tests,

and why?

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To run the autograder for this question and visualize the output:

python3 autograder.py -q q10

If you want to run this test (or any of the other tests) without graphics you can add the following flag:

python3 autograder.py -q q10 –no-graphics

*IMPORTANT*: In general, it is possible sometimes for the autograder to time out if running the tests

with graphics. To accurately determine whether or not your code is efficient enough, you should run

the tests with the –no-graphics flag. If the autograder passes with this flag, then you will receive full

points, even if the autograder times out with graphics.

Submission

Make sure you submit your code files bustersAgents.py and inference.py to Markus.

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