Planning and Acting System for Angry Birds with Refinement Methods
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This document presents a planning and acting system for the Angry Birds video game that uses refinement methods. It designs a Refinement Acting Engine (RAE) based on the ARP-interleave framework with a Sequential Refinement Planning Engine (SeRPE). The system incorporates greedy, depth-first search, and A* algorithms to search for plans. Experimental results show that the ARP-interleave approach outperforms alternatives that rely solely on search algorithms.
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Planning and Acting System for Angry Birds with Refinement Methods
- 1. Deliberately Planning and Acting for Angry Birds with Refinement Methods Ruofei Du, Zebao Gao, Zheng Xu CMSC 722 Technical Report advised by Prof. Nau & Dr. Shivashankar Computer Science Dept., Univ. of Maryland, College Park
- 15. Related Work Planning & Machine Learning
- 16. Related Work Planning & Machine Learning
- 17. Related Work Planning & Machine Learning
- 18. Related Work Planning & Machine Learning
- 19. Related Work Planning & Machine Learning
- 20. Related Work Planning & Machine Learning
- 21. Related Work Planning & Machine Learning Most work focuses on modeling the physical properties of the game or utilize machines learning as empirical knowledge base. None of the related work compares the methods using or not using refinements methods in an ARP-interleave framework.
- 22. Contribution Sample log of our system 0 [System] Program starts with configuration -d 32 [System] Server waiting on port: 9000 1051 [System] Client connected 1934 [System] Running A* agent without IRPE 8309 [Vision] Detecting objects in the Angry Birds using vision module 10068 [Vision] Detect TNTs 0 10069 [Vision] Detect pigs and rolling 1, glass 5, stone 1, wood 27, birds 8 10069 [Vision] Statistics: 1, 34, 0 10213 [Planner] m1-destroyAllPigs: 1 pigs 10216 [Planner] m2-destroyPig ab.vision.ABObject[x=536,y=290,width=14,height=10] 10216 [Planner] Estimate launch point from 2 10217 [Planner] launch point java.awt.Point[x=9,y=961], angle 73.79194556203768 17742 [Actor] Shooting starts 193, 328, -184, 633 27765 [Actor] Shooting completes 28096 [Vision] Scale factor = 1.0006048459391437 28267 [Vision] Detecting objects in the Angry Birds using vision module 28943 [Vision] Detect TNTs 0 28944 [Vision] Detect pigs and rolling 0, glass 2, stone 1, wood 10, birds2 28944 [Vision] Statistics: 0, 13, 0 29116 [Planner] m1-destroyAllPigs: 1 pigs 29116 [Planner] m2-destroyPig ab.vision.ABObject[x=536,y=290,width=14,height=10] 29117 [Planner] Estimate launch point from 2 29117 [Planner] launch point java.awt.Point[x=0,y=959], angle 72.99302990476194 36778 [Actor] no sling detected, can not execute the shot, will re-segement the image 37049 [Vision] Detecting objects in the Angry Birds using vision module 38198 [Vision] Detect TNTs 0
- 23. Design and Implementation of Greedy, DFFS, A* specifically for solving Angry Birds puzzles
- 24. Design a Refinement Acting Engine (RAE) Based on ARP-interleave With Sequential Refinement Planning Engine (SeRPE)
- 25. Evaluation and Comparison amongst 3 algorithms in 2 conditions Greedy / DFFS / A* && Planning Only / SeRPE
- 26. Discussion, illustration and insights from Integrating Planning and Acting Using refinement methods for Angry Birds
- 27. Angry Bird Platform Rebuilt upon Ge et al., 2014 Figure by our team
- 30. The angry birds platform could execute the following commands Formalism Commands and Tasks
- 31. findMBR() perceive all the minimum bounding rectangles (MBR) of Objects in the current state
- 32. estimateLauchPoint(sl, target) estimate the Start Points used to shoot bird from the Sling and the target Point
- 33. shot(b, start) shot a bird by pulling it to the start point
- 34. isReachable(sl, start, target) estimate if the Target Point is reachable based on the Start Point, or the Target is blocked by Obstacles
- 35. getSupporters(obj) get all the objects that suppot the object
- 36. We define the following commands that are executable in the program
- 38. We define the following tasks
- 41. m-destroyAllPigs() m1-chooseTarget() m2-chooseTarget() m1-selectTarget() m2-selectTarget() m1-destroyTarget(t) m2-destroyTarget(p) m1-destroyPig(p, b) m1-hit(a, obj) m2-hit(a, obj) m3-hit(a, obj) m4-hit(a, obj)
- 43. Refinement Tree
- 44. Challenge World is seldom predictable (Ghallab, Nau and Traverso, 2015)
- 45. Actions failures A shot may not accomplish the goal of destroying a targeted pig Challenge World is seldom predictable (Ghallab, Nau and Traverso, 2015)
- 46. Unexpected side effects of actions A shot may changing the future planning state by destroying other pigs Challenge World is seldom predictable (Ghallab, Nau and Traverso, 2015)
- 47. Exogenous events A shot may put the stage into an unsolvable state like surrounding a pig with irons Challenge World is seldom predictable (Ghallab, Nau and Traverso, 2015)
- 48. ARP-interleave (Ghallab, Nau and Traverso, 2015) 1. Before each step: Generate a plan based on the SeRPE refinement tree.
- 49. ARP-interleave (Ghallab, Nau and Traverso, 2015) 2. After each step: Update information of the world (outcomes, objects)
- 50. ARP-interleave (Ghallab, Nau and Traverso, 2015) 3. If the current step fails: try remaining methods
- 51. It models the problem more accurately Advantages ARP-interleave Framework
- 52. Plans generated by this system are more practical the actual status of the world are always taken into consideration Advantages ARP-interleave Framework
- 53. Better decision can be made about choosing the next plan.. Advantages ARP-interleave Framework
- 54. Search algorithms for nondeterministic choice in SeRPE
- 55. SeRPE-Greedy Two heuristics: 1. always choose an existing pig as target 2. choose the pig that is closest to the sling
- 56. SeRPE-DFFS 1 Heuristic: always choose an existing pig as target Impl: maintain visited states in a HashSet
- 57. SeRPE-A*
- 59. Experiment Intel Xeon CPU E5-2667 2.90GHz 32GB RAM
- 60. Experiment Chrome Version of Angry Birds chrome.angrybirds.com
- 61. Experiment Chrome Version of Angry Birds chrome.angrybirds.com
- 63. Dataset Highest Score for Each Level
- 64. Dataset Average Time Cost for Each Level (ms)
- 65. Results SeRPE-A* outperforms both in highest score and time cost
- 66. Why deterministic models are worse? / Why SeRPE with A* is better?
- 67. Inaccurate Simulation It is a challenging task to derive an exact model of a physical world. The knowledge base of the physical world is built upon the prior exploration with trials and errors. Even in a virtual world like Angry Birds, it is almost impossible to model the world without reading its source code. Discussion Why deterministic model fails (Ghallab, Nau and Traverso, 2015)
- 68. Changes in Time In practical scenarios like Angry Birds, the global states of any object may be subject to change from time to time. For example, it is very hard to know whether the scene is static or not after a shot. The structure may be unstable and moving in a very slow pace. As a result, the subtle changes in the global states may lead to failure of the current plan. Discussion Why deterministic model fails (Ghallab, Nau and Traverso, 2015)
- 69. Erroneous Actions As for human beings, it is hard to perform an action such as textit{move left hand 5 centimeters forward exactly}. Similarly, for a video game like Angry Birds that involves human interactions, the acting engine hardly points to the perfect position in pixel-level. Consequently, the actor may produce different states than the planner predicted. Discussion Why deterministic model fails (Ghallab, Nau and Traverso, 2015)
- 70. 1. present a deliberately planning and acting system with refinement methods for the popular Angry Birds video game. 2. design a RAE based on ARP-interleave with SeRPE. Greedy, DFFS and A* are incorporated to search for planning 3. our experimental results show that ARP-interleave outperforms their counterparts which purely rely on the search algorithms Conclusion Summary
- 71. Deliberately Planning and Acting for Angry Birds with Refinement Methods Ruofei Du, Zebao Gao, Zheng Xu CMSC 722 Technical Report advised by Prof. Nau & Dr. Shivashankar Computer Science Dept., Univ. of Maryland, College Park Thank you!
Hinweis der Redaktion
- Good morning, everyone. My name is Ruofei. This is Zebao, this is Zheng. Our topic is “Deliberately Planning and Acting for Angry Birds with Refinement Methods”
- First of all, we’ll play our demo video for a quick overview of our project. https://www.youtube.com/watch?v=u7XJ0g6d9po
- Angry Birds is a popular video game by ROVIO in iOS, Android, PC, Mac and even on the web.
- It has attracted over 200 million players all over the world since 2009. Image credit: http://cdn2.hubspot.net/hub/202647/file-362198412-jpg/images/user_generated_content_is_the_future_of_ecommerce_2.jpg
- It has attracted over 200 million players all over the world since 2009.
- The task for the player is to shoot birds with different properties from a slingshot at a structure that houses pigs and to destroy all the pigs.
- The task for the player is to shoot birds with different properties from a slingshot at a structure that houses pigs and to destroy all the pigs.
- The task for the player is to shoot birds with different properties from a slingshot at a structure that houses pigs and to destroy all the pigs.
- The task for the player is to shoot birds with different properties from a slingshot at a structure that houses pigs and to destroy all the pigs.
- The structure can be very complicated and can involve a number of different object categories with different properties, such as wood, ice and stone, as shown in Fig. 1. After each shot, the entire game environment is subject to tremendous change.
- The structure can be very complicated and can involve a number of different object categories with different properties, such as wood, ice and stone, as shown in Fig. 1. After each shot, the entire game environment is subject to tremendous change.
- After each shot, the entire game environment is subject to tremendous change.
- One motivation of our work is to assist new players to play the game. The other motivation is from IJCAI Angry Birds competition, which is due in July.
- One motivation of our work is to assist new players to play the game. The other motivation is from IJCAI Angry Birds competition, which is due in July.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- Past research on Angry Birds has largely focus on AI Planning or Machine Learning, as well as geometrical representation and physical modeling.
- However,
- Here we summarizes the contribution of our work as follows:
- First
- Second
- Third
- Eventually
- Here is framework figure by our team. First, there is a chrome extension to capture screenshot from the game. Next, the game server decoded the screenshot and transfers to the automatic agent, the client side. Finally, the client uses a vision module provided by the IJCAI community and uses our planner to calculate the interactions for the game. They also provides an actor module
- Zheng: Here is our problem formalism of the Angry Birds puzzles.
- The following state variables are kept up-to-date by the vision component of angry birds
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- Eventually
- The following state variables are kept up-to-date by the vision component of angry birds
- Thanks Zheng for talking about problem formalism. So, One question we may have at this point is: What is difficult with Angry birds? What are the challenges? One of the biggest challenges is that the world is seldom predictable. Even a well-trained player cannot tell the exact states of all objects after a single shot.
- To be specific. First thing, a shot may not accomplish the goal of destroying a targeted pig.
- Also. Actions often have unexpected side effects. A shot may changing the future planning state by destroying other pigs.
- And Even worse. A shot may put the stage into an unsolvable state like surrounding a pig with irons.
- So, How are we dealing with this? We are applying a planning and acting approach, ARP-interleave, which will replan for next step after each action. Before each step, it will generate a plan based on the SeRPE refinement tree.
- After each step, the system will check the current status of the world. It will not only check the outcomes of the previous action. Also, it will update the status of all the objects (like pigs, stones, woods, etc.) according to their latest actual state.
- And If the current step fails to achieve the goal, the planner will try to use the remaining methods that are feasible in current state.
- ARP-interleave well fit the purpose of solving the Angry Birds problem. Here are its advantages. First, It models the problem more accurately
- Second, Plans generated by this system are more practical because the actual status of the world is always taken into consideration.
- Finally, as a result, better decisions can be made about choosing the next plan.
- Now let’s look at the search algorithms we are using to generate plans in the simulation process of SeRPE. We adopt three forward search algorithms in our implementation: greedy search, DFFS and A*. We’ll call these algorithms SePRE-Greedy,SePRE-DFFS and SePRE-A* respectively.
- SeRPE-Greedy uses two heuristics: The first heuristics always choose a pig as target. The second heuristics will choose the pig that is closest to the sling. In our planning and acting framework, simulation algorithm is called after each action. And if we are using the second heuristic, for example, then each time SeRPE-Greedy is called, it will return a plan that hits the pigs one by one in the order of distance.
- DFFS. One advantage of depth first search comparing with greedy search is that it guarantees to find a solution if one exists. SeRPE-DFFS uses one heuristic: always choose an existing pig as a target. In our implementation, we maintain a Hashset to keep the visited states.
- And finally, SeRPE-A*. A* surpasses greedy search and DFFS when the state space is not too large, as A* guarantees to return the optimal solution. SeRPE-A* uses a heuristic based on scores of objects shown in the table, and it will estimate the cost by total scores of objects hit by the bird.
- We conducted a set of experiments on a workstation in the GVIL using a Nvidia Quadro K6000
- and an Intel Xeon Processor, 32GB RAM
- Using the Chrome version of Angry Birds
- Under 10 minutes for time limit
- We use the first 9 levels of Angry Birds to evaluate different algorithms
- We get the statistics of the highest score for each level
- As well as average time cost to pass each level
- The results are shown in these two figures. The SeRPE-A* algorithm outperforms the naive system without using SeRPE.
- First
- Second
- Third
- Third
- Finally we would like to thank Prof. Nau and Vikas for teaching AI planning and advising the team. Thank you all for listening.
- After each shot, the entire game environment is subject to tremendous change.