本次作业的目标是实现一个能够解决推箱子（Sokoban）谜题的游戏求解器。推箱子是一款经典的益智游戏，玩家需要控制仓库机器人将箱子推到指定的存储位置。游戏规则包括：每次只能移动一个箱子；箱子只能被机器人推动而不能被拉动；机器人和箱子都不能穿过障碍物（如墙壁或其他箱子）；此外，机器人不能同时推动多个箱子，例如，如果两个箱子排成一列，机器人无法推动它们。游戏胜利的条件是所有箱子都被推到了指定的存储位置。
Introduction
The goal of this assignment will be to implement a working solver for the puzzle game Sokoban shown in Figure 1. Sokoban is a puzzle game in which a warehouse robot must push boxes into storage spaces. The rules hold that only one box can be moved at a time, that boxes can only be pushed by robots and not pulled, and that neither robots nor boxes can pass through obstacles (walls or other boxes). In addition, robots cannot push more than one box, i.e., if there are two boxes in a row, they cannot push them. The game is over when all the boxes are in their storage spots.
In our version of Sokoban the rules are slightly more complicated, as there may be more than one warehouse robot available to push boxes. These robots cannot pass through one another nor can they move simultaneously, however.
Sokoban can be played online at https://www.sokobanonline.com/play. We recommend that you familiarize yourself with the rules and objective of the game before proceeding. It is worth noting that the version that is presented online is only an example. We will give a formal description of the puzzle in the next section.
Description of Sokoban
Sokoban has the following formal description. Note that our version differs from the standard one. Read the description carefully.
- The puzzle is played on a board that is a grid board with N squares in the x-dimension and M squares in the y-dimension.
- Each state contains the x and y coordinates for each robot, the boxes, the storage spots, and the obstacles.
- From each state, each robot can move North, South, East, or West. No two robots can move simultaneously, however. If a robot moves to the location of a box, the box will move one square in the same direction. Boxes and robots cannot pass through walls or obstacles, however. Robots cannot push more than one box at a time; if two boxes are in succession the robot will not be able to move them. Movements that cause a box to move more than one unit of the grid are also illegal. Whether or not a robot is pushing an object does not change the cost.
- Each movement is of equal cost. Whether or not the robot is pushing an object does not change the cost.
- The goal is achieved when each box is located in a storage area on the grid.
Ideally, we will want our robots to organize everything before the supervisor arrives. This means that with each problem instance, you will be given a computation time constraint. You must attempt to provide some legal solution to the problem (i.e., a plan) within this constraint. Better plans will be plans that are shorter, i.e. that require fewer operators to complete.
Your goal is to implement an anytime algorithm for this problem, meaning that your algorithm should generate better solutions (i.e., shorter plans) the more computation time it is given.
Code You Have Been Provided
The code for this assignment consists of several Python files, some of which you will need to read and understand in order to complete the assignment. You have been provided:
- search.py
- sokoban.py
- solution.py
- autograder.py
The only file you will submit is solution.py. We consider the other files to be starter code, and we will test your code using the original versions of those files. In order for your solution.py to be compatible with our starter code, you should not modify the starter code. In addition, you should not modify the functions defined in the starter code files from within solution.py.
The file search.py, which is available from the website, provides a generic search engine framework and code to perform several different search routines. This code will serve as a base for your Sokoban solver. A brief description of the functionality of search.py follows. The code itself is documented and worth reading.
- An object of class StateSpace represents a node in the state space of a generic search problem. The base class defines a fixed interface that is used by the SearchEngine class to perform search in that state space.
For the Sokoban problem, we will define a concrete sub-class that inherits from StateSpace. This concrete sub-class will inherit some of the “utility” methods that are implemented in the base class. Each StateSpace object s has the following key attributes:- s.gval: the g value of that node, i.e., the total cost of getting to that state (from the initial state).
- s.parent: the parent StateSpace object of s, i.e., the StateSpace object that has s as a successor. This will be None if s is the initial state.
- s.action: a string that contains that name of the action that was applied to s.parent to generate s. Will be “START” if s is the initial state.
- An object of class SearchEngine se runs the search procedure. A SearchEngine object is initialized with a search strategy (‘depth first’, ‘breadth first’, ‘best first’, ‘a star’, or ‘custom’) and a cycle checking level (‘none’, ‘path’, or ‘full’).
Note that SearchEngine depends on two auxiliary classes:- An object of class sNode sn which represents a node in the search space. Each object sn contains a StateSpace object and additional details: hval, i.e., the heuristic function value of that state and gval, i.e. the cost to arrive at that node from the initial state. An f val f n and weight are tied to search nodes during the execution of a search, where applicable.
- An object of class Open is used to represent the search frontier. The search frontier will be organized in the way that is appropriate for a given search strategy.
When a SearchEngine’s search strategy is set to ‘custom’, you will have to specify the way that f values of nodes are calculated; these values will structure the order of the nodes that are expanded during your search.
Once a SearchEngine object has been instantiated, you can set up a specific search with: init search(initial_state, goal_fn, heuristic_fn, fval_fn) and execute that search with search(timebound, costbound)
The arguments are as follows:
- initial state will be an object of type StateSpace; it is your start state.
- goal_fn(s) is a function which returns True if a given state s is a goal state and False otherwise.
- heuristic_fn(s) is a function that returns a heuristic value for state s. This function will only be used if your search engine has been instantiated to be a heuristic search (e.g., best first).
- fval_fn(sNode, weight) defines f values for states. This function will only be used by your search engine if it has been instantiated to execute a ‘custom’ search. Note that this function takes in an sNode and that an sNode contains not only a state but additional measures of the state (e.g., a gval). The function also takes in a float weight. It will use the variables that are provided to arrive at an f value calculation for the state contained in the sNode.
- timebound is a bound on the amount of time your code will execute the search. Once the run time exceeds the time bound, the search will stop; if no solution has been found, the search will return False.
- costbound is an optional parameter that is used to set boundaries on the cost of nodes that are explored. This costbound is defined as a list of three values. costbound[0] is used to prune states based on their g-values; any state with a g-value higher than costbound[0] will not be expanded. costbound[1] is used to prune states based on their h-values; any state with an hvalue higher than costbound[1] will not be expanded. Finally, costbound[2] is used to prune states based on their f -values; any state with an f -value higher than costbound[2] will not be expanded.
The output of the search function will include both a solution path as well as a SearchStats object (if a solution is found). A SearchStats object (ss) details some interesting statistics that are related to a given search. Its attributes are as follows:
- ss.states expanded, which is a count of the number of states drawn from the Frontier during a search.
- ss.states generated, which is a count of the number of states generated by the successor function during a search.
- ss.states pruned cycles, which is a count of the number of states pruned as a result of cycle checking.
- ss.states pruned cost, which is a count of the number of states pruned as a result of enforcing cost boundaries during a search.
For this assignment we have also provided sokoban.py, which specializes StateSpace for the Sokoban problem. You will therefore not need to encode representations of Sokoban states or the successor function for Sokoban! These have been provided to you so that you can focus on implementing good search heuristics and anytime algorithms.
The file sokoban.py contains:
- An object of class SokobanState, which is a StateSpace with these additional key attributes:
- s.width: the width of the Sokoban board
- s.height: the height of the Sokoban board
- s.robots: positions for each robot that is on the board. Each robot position is a tuple (x, y), that denotes the robot’s x and y position.
- s.boxes: positions for each box that is on the board. Each box position is also an (x, y) tuple.
- s.storage: positions for each storage bin that is on the board (also (x, y) tuples).
- s.obstacles: locations of all of the obstacles (i.e. walls) on the board. Obstacles, like robots and boxes, are also tuples of (x, y) coordinates.
- SokobanState also contains the following key functions:
- successors(): This function generates a list of SokobanStates that are successors to a given SokobanState. Each state will be annotated by the action that was used to arrive at the SokobanState. These actions are (r, d) tuples wherein r denotes the index of the robot that moved d denotes the direction of movement of the robot.
- hashable state(): This is a function that calculates a unique index to represents a particular SokobanState. It is used to facilitate path and cycle checking.
- print state(): This function prints a SokobanState to stdout.
Note that SokobanState depends on one auxiliary class:
- An object of class Direction, which is used to define the directions that the robot can move and the effect of this movement.
Also note that sokoban.py contains a set of 20 initial states for Sokoban problems, which are stored in the tuple PROBLEMS. You can use these states to test your implementations.
The file solution.py contains the methods that need to be implemented.
The file autograder.py runs some tests on your code to give you an indication of how well your methods perform.
Assignment Specifics - Your Tasks
To complete this assignment you must modify solution.py to:
- Implement a Manhattan distance heuristic (heur manhattan distance(state)). This heuristic will be used to estimate how many moves a current state is from a goal state. The Manhattan distance between coordinates (x0, y0) and (x1, y1) is |x0 - x1| + |y0 - y1|. Your implementation should calculate the sum of Manhattan distances between each box that has yet to be stored and the storage point nearest to it. Ignore the positions of obstacles in your calculations and assume that many boxes can be stored at one location.
- Implement a non-trivial heuristic for Sokoban that improves on the Manhattan distance heuristic (heur alternate(state)). Place a description of your heuristic in the comments of your code.
- Implement a version of weighted A* search. Use the function declaration: weighted astar(initial state, heur f n, weight,timebound). Weighted A* balances features of Greedy Search against those of A* search. It requires a specialized f -value function (described below). Note that to run weighted astar you will need to instantiate a SearchEngine object with a custom search strategy and initialize this object with a your f -value function. More details are provided in Section 6.
- Implement an iterative version of weighted A* in order to create an A* search that will provide a solution in whatever time is given. This will use weighted A* to generate solutions quickly; it will then iteratively refine and improve solutions as time allows. Use the function declaration: iterative astar(initial state, heur f n, weight,timebound). More details are provided in Section 7.
- Greedy search can also be modified to refine solutions iteratively! Do this next by implementing an iterative version of Greedy Search. More details are provided in Section 5.
Note that when we are testing your code, we will limit each run of your algorithm on teach.cs to 2 seconds. Instances that are not solved within this limit will provide an interesting evaluation metric: failure rate.
Iterative Greedy Best-First Search
Greedy best-first search expands nodes with lowest h(node) first. The solution found by this algorithm may not be optimal. Iterative greedy-best first search (which is called iterative gb f s in the code) continues searching after a solution is found in order to improve solution quality. Since we have found a path to the goal after the first iteration, we can introduce a cost bound for pruning: if node has g(node) greater than the best path the goal found so far, we can prune it. The algorithm returns either when we have expanded all non-pruned nodes, in which case the best solution found by the algorithm is the optimal solution, or when it runs out of time. We prune based on the g-value of the node only because greedy best-first search is not necessarily run with an admissible heuristic.
Record the time when iterative gb f s is called with os.times()[0]. Each time you call search, you should update the time bound with the remaining allowed time. The automarking script will confirm that your algorithm obeys the specified time bound.
Weighted A*
Instead of A*‘s regular node-valuation formula f(node) = g(node) + h(node), Weighted A* introduces a weighted formula:
f(node) = g(node) + w * h(node)
where g(node) is the cost of the path to node, h(node) the estimated cost of getting from node to the goal, and w >= 1 is a bias towards states that are closer to the goal. Theoretically, the smaller w is, the better the first solution found will be (i.e., the closer to the optimal solution it will be … why??). However, different values of w will require different computation times.
Start by implementing Weighted A* in the function weighted astar(initial_state, heur_fn, weight, timebound) using the f-value function above. This will require you to instantiate a custom SearchEngine and an f-value of your own design. When you are passing in fval_function to init search for this problem, you will need to have specified the weight for fval_function. You can do this by wrapping the fval_f unction(sN, weight) you have written in an anonymous function, i.e.,1
wrapped_fval_function = (lambda sN: fval_function(sN, weight))
Explore the performance of your weighted A* implementation on the test problems that have been provided using the Manhattan distance heuristic and the following weights: 10, 5, 2, 1. Which weights yield the fastest time to a solution? Which yields the least cost solution?
Iterative Weighted A*
You have hopefully discovered that, even when using an admissible heuristic, the length of Weighted A* solutions may not be optimal when w is anything larger than 1. We can therefore keep searching after we have found a solution in order to try and find a better one. More specifically, we can continue to use Weighted A* with smaller and smaller weights, as time allows, in an effort to improve on our solution with our remaining time. This is the idea behind Iterative Weighted A*. Iterative Weighted A* continues to search for solutions until either there are no nodes left to expand (and our best solution is the optimal one) or it runs out of time. It will do this by running Weighted A* again and again, with increasingly small weights.
Since Iterative Weighted A* will have found a path to the goal after its first search iteration, we can use this solution to guide our search in subsequent iterations. More specifically, we can introduce a cost bound that will help prune nodes in future iterations: if any node we generate has a g(node) + h(node) value greater than the cost of the best path to the goal found so far, we can prune it. Implement an iterative version of weighted A* search using the following function stub: iterative astar(initial state, heur f n, weight,timebound). This should be an iterative search that makes use of your weighted A*. When a solution is found, remember it and, if time allows, iterate upon it.
Change your weight at each iteration and enforce a cost boundary so that you will move toward more optimal solutions at each iteration.
GOOD LUCK!