Homework 3: Multi-Agent Pacman

Due Tuesday Oct 14, 11:55 PM

Pacman, now with ghosts.
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 minimax search and alpha-beta pruning.

The code base has not changed much from the previous project, but there are some new files, so be sure to start with a fresh installation.

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 will reside.
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
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.
Files you can 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 should submit this file with your code and comments. Please do not change the other files in this distribution or submit any of the original files other than this file. Please do not change the names of any provided functions or classes within the code.


Multi-Agent Pacman

First, play a game of classic Pacman:

python pacman.py

Now, run the provided ReflexAgent in multiAgents.py:

python pacman.py -p ReflexAgent

Note that it plays quite poorly even on simple layouts:

python 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

Improve the ReflexAgent in multiAgents.py to play respectably. The provided reflex agent code 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:

python 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):

python pacman.py --frameTime 0 -p ReflexAgent -k 1
python 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: you can never have more ghosts than the layout permits.

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; in later parts of the project, you'll be evaluating states.

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: we will run your agent on the openClassic layout 10 times. You will receive 0 points if your agent times out, or never wins. You will receive 2 points if your agent wins at least 5 times, or 4 points if your agent wins all 10 games. You will receive an additional 1 bonus point if your agent's average score is greater than 500.

Don't spend too much time on this question, though, as the meat of the project lies ahead.


Question 2 (5 points): Minimax

Now you will write an adversarial search agent in the provided MinimaxAgent class stub in multiAgents.py. Your minimax agent should work with any number of ghosts, so you'll have to write an algorithm that is slightly more general than what you've previously seen in lecture. In particular, your minimax tree will have multiple min layers (one for each ghost) for every max layer.

Your code should also expand the game tree to an arbitrary depth. Score the leaves of your minimax tree with the supplied self.evaluationFunction, which defaults to scoreEvaluationFunction. MinimaxAgent extends MultiAgentSearchAgent, which gives access to self.depth and self.evaluationFunction. Make sure your minimax code makes reference to these two variables where appropriate as these variables are populated in response to command line options.

Important: A single search ply is considered to be one Pacman move and all the ghosts' responses, so depth 2 search will involve Pacman and each ghost moving two times.

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, you should 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

python autograder.py -q q2

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:

python autograder.py -q q2 --no-graphics

Hints and Observations


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 will be slightly more general than the pseudocode from lecture, so part of the challenge is to extend the alpha-beta pruning logic appropriately to multiple minimizer agents.

You should see a speed-up (perhaps depth 3 alpha-beta will run as fast as depth 2 minimax). Ideally, 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, although the actions it selects can vary because of different tie-breaking behavior. 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.

You must not prune on equality in order to match the set of states explored by our autograder. (Indeed, alternatively, but incompatible with our autograder, would be to also allow for pruning on equality and invoke alpha-beta once on each child of the root node, but this will not match the autograder.)

The pseudo-code below represents the algorithm you should implement for this question.

To test and debug your code, run

python 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:

python 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 (BONUS): 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 so far 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:

python 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.

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 getLegalActions uniformly at random.

To see how the ExpectimaxAgent behaves in Pacman, run:

python 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:

python pacman.py -p AlphaBetaAgent -l trappedClassic -a depth=3 -q -n 10
python 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.


Submission

Submit your well-commented multiAgents.py file on moodle.