Commit a bug of decreasing F on EPEA* + ID

OmriKaduri · Jan 14, 2020 · a6a2459 · a6a2459
1 parent 4203f91
commit a6a2459
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diff --git a/.vs/mapf/v15/.suo b/.vs/mapf/v15/.suo
diff --git a/.vs/mapf/v15/Server/sqlite3/storage.ide-shm b/.vs/mapf/v15/Server/sqlite3/storage.ide-shm
diff --git a/.vs/mapf/v15/Server/sqlite3/storage.ide-wal b/.vs/mapf/v15/Server/sqlite3/storage.ide-wal
diff --git a/IndependenceDetection.cs b/IndependenceDetection.cs
@@ -560,52 +560,53 @@ public IndependenceDetectionAgentsGroup(ProblemInstance instance, AgentState[] a
             var model_path = Path.Combine(Environment.CurrentDirectory, "testing-clf.xgb");
 
             //selectionModel = new ClassificationXGBoostLearner();
-            this.selectionModel = ClassificationXGBoostModel.Load(model_path);
-
-            this.simple = new SumIndividualCosts();
-            this.epea = new EPEA_Star(this.simple);
-            this.astar = new A_Star(this.simple);
-            this.macbs = new CBS(this.astar, this.epea, 10);
-            this.icts = new CostTreeSearchSolverOldMatching(3);
-            this.cbs = new CBS(this.astar, this.epea);
-            this.mvc_for_cbs = new MvcHeuristicForCbs();
-
-            //for (int i = 0; i < astar_heuristics.Count; i++)
-            //    astar_heuristics[i].Init(instance, agentList);
-
-            this.cbsh = new CBS(astar, epea,
-                mergeThreshold: -1,
-                CBS.BypassStrategy.FIRST_FIT_LOOKAHEAD,
-                doMalte: false,
-                CBS.ConflictChoice.CARDINAL_MDD,
-                this.mvc_for_cbs,
-                disableTieBreakingByMinOpsEstimate: true,
-                lookaheadMaxExpansions: 1,
-                mergeCausesRestart: true,
-                replanSameCostWithMdd: false,
-                cacheMdds: false,
-                useOldCost: false,
-                useCAT: true);
-
-            this.runner = runner;
-            this.subproblem_id = subproblem_id;
-            this.timeToSolver = 0;
+            //this.selectionModel = ClassificationXGBoostModel.Load(model_path);
+
+            //this.simple = new SumIndividualCosts();
+            //this.epea = new EPEA_Star(this.simple);
+            //this.astar = new A_Star(this.simple);
+            //this.macbs = new CBS(this.astar, this.epea, 10);
+            //this.icts = new CostTreeSearchSolverOldMatching(3);
+            //this.cbs = new CBS(this.astar, this.epea);
+            //this.mvc_for_cbs = new MvcHeuristicForCbs();
+
+            ////for (int i = 0; i < astar_heuristics.Count; i++)
+            ////    astar_heuristics[i].Init(instance, agentList);
+
+            //this.cbsh = new CBS(astar, epea,
+            //    mergeThreshold: -1,
+            //    CBS.BypassStrategy.FIRST_FIT_LOOKAHEAD,
+            //    doMalte: false,
+            //    CBS.ConflictChoice.CARDINAL_MDD,
+            //    this.mvc_for_cbs,
+            //    disableTieBreakingByMinOpsEstimate: true,
+            //    lookaheadMaxExpansions: 1,
+            //    mergeCausesRestart: true,
+            //    replanSameCostWithMdd: false,
+            //    cacheMdds: false,
+            //    useOldCost: false,
+            //    useCAT: true);
+
+            ////this.runner = runner;
+            //this.subproblem_id = subproblem_id;
+            //this.timeToSolver = 0;
         }
 
         /// <summary>
         /// Solve the group of agents together.
         /// </summary>
-        /// <param name="runner"></param>
+        /// <param name="myRunner"></param>
         /// <returns>true if optimal solution for the group of agents were found, false otherwise</returns>
-        public bool Solve(Run runner)
+        public bool Solve(Run myRunner)
         {
             ISolver relevantSolver = this.groupSolver;
+
             if (this.allAgentsState.Length == 1)
                 relevantSolver = this.singleAgentSolver; // TODO: Consider using CBS's root trick to really get single agent paths fast. Though it won't respect illegal moves and such.
 
             var watch = System.Diagnostics.Stopwatch.StartNew();
 
-            relevantSolver.Setup(this.instance, runner);
+            relevantSolver.Setup(this.instance, myRunner);
             bool solved = relevantSolver.Solve();
             watch.Stop();
             this.timeToSolver = watch.ElapsedMilliseconds;
@@ -622,12 +623,12 @@ public bool Solve(Run runner)
 
             //TODO: Add print stastistics to different writer - writer of ID metadata
 
-            this.runner.OpenMetaIDResultsFile();
-            this.runner.PrintMetaIDProblemStatistics(this.instance);
-            OutputIDMetaStatistics(this.runner.metaIDResultsWriter);
-            this.runner.metaIDResultsWriter.WriteLine();
-            this.runner.metaIDResultsWriter.Flush();
-            this.runner.CloseMetaIDResultsFile();
+            myRunner.OpenMetaIDResultsFile();
+            myRunner.PrintMetaIDProblemStatistics(this.instance);
+            OutputIDMetaStatistics(myRunner.metaIDResultsWriter);
+            myRunner.metaIDResultsWriter.WriteLine();
+            myRunner.metaIDResultsWriter.Flush();
+            myRunner.CloseMetaIDResultsFile();
             // Clear memory
             relevantSolver.Clear();
             return true;
@@ -678,8 +679,6 @@ public ISolver solverByIndex(double solverIndex, ProblemInstance instance)
                 default:
                     return null;
             }
-
-
         }
 
         /// <summary>

diff --git a/Run.cs b/Run.cs
@@ -628,25 +628,25 @@ public Run()
             //solvers.Add(new IndependenceDetection(astar, epea,true));
 
             //// ICTS + ID 
-            //solvers.Add(new IndependenceDetection(astar, new CostTreeSearchSolverOldMatching(3)));
+            solvers.Add(new IndependenceDetection(astar, new CostTreeSearchSolverOldMatching(3)));
 
             //// EPEA* + ID
-            //solvers.Add(new IndependenceDetection(astar, epea));
+            solvers.Add(new IndependenceDetection(astar, epea));
 
             //Adding CBS-H + ID:
-            solvers.Add(new IndependenceDetection(astar, new CBS(astar, astar_with_od, 
-                mergeThreshold: -1, 
-                CBS.BypassStrategy.FIRST_FIT_LOOKAHEAD,
-                doMalte: false, 
-                CBS.ConflictChoice.CARDINAL_MDD,
-                mvc_for_cbs,
-                disableTieBreakingByMinOpsEstimate: true,
-                lookaheadMaxExpansions: 1,
-                mergeCausesRestart: true,
-                replanSameCostWithMdd: false,
-                cacheMdds: false,
-                useOldCost: false,
-                useCAT: true)));
+            //solvers.Add(new IndependenceDetection(astar, new CBS(astar, astar_with_od, 
+            //    mergeThreshold: -1, 
+            //    CBS.BypassStrategy.FIRST_FIT_LOOKAHEAD,
+            //    doMalte: false, 
+            //    CBS.ConflictChoice.CARDINAL_MDD,
+            //    mvc_for_cbs,
+            //    disableTieBreakingByMinOpsEstimate: true,
+            //    lookaheadMaxExpansions: 1,
+            //    mergeCausesRestart: true,
+            //    replanSameCostWithMdd: false,
+            //    cacheMdds: false,
+            //    useOldCost: false,
+            //    useCAT: true)));
 
             //Adding CBS-H:
             //mergeThreshold = -1, #CBS-H is with -1, MA-CBS-H is with 10

diff --git a/bin/Debug/24a88a22-3331-47ef-8a44-3fb1483b6d03.csv b/bin/Debug/24a88a22-3331-47ef-8a44-3fb1483b6d03.csv
@@ -0,0 +1 @@
+GridName,GridRows,GridColumns,NumOfAgents,NumOfObstacles,InstanceId,BranchingFactor,ObstacleDensity,AvgDistanceToGoal,MaxDistanceToGoal,MinDistanceToGoal,AvgStartDistances,AvgGoalDistances,PointsAtSPRatio,Sparsity,ICTS 3E +ID Success,ICTS 3E +ID Runtime,ICTS 3E +ID Solution Cost,ICTS 3E +ID Expanded,ICTS 3E +ID Generated,ICTS 3E +ID Max Group Size,ICTS 3E +ID Min Group Size,ICTS 3E +ID Max Group,ICTS 3E +ID Solution Depth,EPEA*+ID Success,EPEA*+ID Runtime,EPEA*+ID Solution Cost,EPEA*+ID Expanded,EPEA*+ID Generated,EPEA*+ID Max Group Size,EPEA*+ID Min Group Size,EPEA*+ID Max Group,EPEA*+ID Solution Depth,
diff --git a/bin/Debug/29200dc7-c37f-4e70-b0f2-6631a4223670.csv b/bin/Debug/29200dc7-c37f-4e70-b0f2-6631a4223670.csv
@@ -0,0 +1,4 @@
+GridName,GridRows,GridColumns,NumOfAgents,NumOfObstacles,InstanceId,BranchingFactor,ObstacleDensity,AvgDistanceToGoal,MaxDistanceToGoal,MinDistanceToGoal,AvgStartDistances,AvgGoalDistances,PointsAtSPRatio,Sparsity,ICTS 3E +ID Success,ICTS 3E +ID Runtime,ICTS 3E +ID Solution Cost,ICTS 3E +ID Expanded,ICTS 3E +ID Generated,ICTS 3E +ID Max Group Size,ICTS 3E +ID Min Group Size,ICTS 3E +ID Max Group,ICTS 3E +ID Solution Depth,EPEA*+ID Success,EPEA*+ID Runtime,EPEA*+ID Solution Cost,EPEA*+ID Expanded,EPEA*+ID Generated,EPEA*+ID Max Group Size,EPEA*+ID Min Group Size,EPEA*+ID Max Group,EPEA*+ID Solution Depth,
+brc202d,481,530,2,211779,1,25,0.830734,365,441,289,145,98.33334,0.002871376,4.63488679289008E-05,1,8009.4249,730,730,1938,1,1,1,0,1,2658.2837,730,730,1938,1,1,1,0,
+brc202d,481,530,3,211779,1,125,0.830734,360,441,289,256.6667,148,0.004212921,6.95233018933513E-05,1,3384.9501,1080,1080,2882,1,1,1,0,1,3870.9835,1080,1080,2882,1,1,1,0,
+brc202d,481,530,4,211779,1,625,0.830734,293.5,441,94,245.8,149.4,0.00458165,9.26977358578017E-05,1,5143.7395,1174,1174,3138,1,1,1,0,1,3859.6912,1174,1174,3138,1,1,1,0,
diff --git a/bin/Debug/29200dc7-c37f-4e70-b0f2-6631a4223670METAID.csv b/bin/Debug/29200dc7-c37f-4e70-b0f2-6631a4223670METAID.csv
@@ -0,0 +1,34 @@
+GridName,GridRows,GridColumns,NumOfAgents,NumOfObstacles,InstanceId,BranchingFactor,ObstacleDensity,AvgDistanceToGoal,MaxDistanceToGoal,MinDistanceToGoal,AvgStartDistances,AvgGoalDistances,PointsAtSPRatio,Sparsity,GroupNumber,SolverUsed,SolverRuntime,GroupSize,
+brc202d,481,530,2,211779,1,25,0.830734,365,441,289,145,98.33334,0.002871376,4.63488679289008E-05,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,ICTS 3E ,40,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,ICTS 3E ,10,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,EPEA*,8,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,EPEA*,10,1,
+brc202d,481,530,3,211779,1,125,0.830734,360,441,289,256.6667,148,0.004212921,6.95233018933513E-05,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,ICTS 3E ,6,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,ICTS 3E ,9,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,ICTS 3E ,13,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,EPEA*,6,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,EPEA*,13,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,EPEA*,12,1,
+brc202d,481,530,4,211779,1,625,0.830734,293.5,441,94,245.8,149.4,0.00458165,9.26977358578017E-05,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,ICTS 3E ,7,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,ICTS 3E ,13,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,ICTS 3E ,11,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.0003726513,2.31744339644504E-05,0,ICTS 3E ,3,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,EPEA*,9,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,EPEA*,12,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,EPEA*,10,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.0003726513,2.31744339644504E-05,0,EPEA*,1,1,
+brc202d,481,530,5,211779,1,3125,0.830734,288,441,94,251.6,171.3333,0.004856235,0.000115872169822252,
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+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,ICTS 3E ,12,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.0003726513,2.31744339644504E-05,0,ICTS 3E ,2,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001047346,2.31744339644504E-05,0,ICTS 3E ,16,1,
+brc202d,481,530,2,211779,0,25,0.830734,0,0,0,0,0,0.001412152,4.63488679289008E-05,1,ICTS 3E ,449,2,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001137567,2.31744339644504E-05,0,EPEA*,5,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001733809,2.31744339644504E-05,0,EPEA*,8,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001376849,2.31744339644504E-05,0,EPEA*,10,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.0003726513,2.31744339644504E-05,0,EPEA*,1,1,
+brc202d,481,530,1,211779,0,5,0.830734,0,0,0,0,0,0.001047346,2.31744339644504E-05,0,EPEA*,20,1,
diff --git a/bin/Debug/2a4b3c8c-a194-4b91-96f1-dc36bee34fb1.csv b/bin/Debug/2a4b3c8c-a194-4b91-96f1-dc36bee34fb1.csv
@@ -0,0 +1,8 @@
+GridName,GridRows,GridColumns,NumOfAgents,NumOfObstacles,InstanceId,BranchingFactor,ObstacleDensity,AvgDistanceToGoal,MaxDistanceToGoal,MinDistanceToGoal,AvgStartDistances,AvgGoalDistances,PointsAtSPRatio,Sparsity,ICTS 3E +ID Success,ICTS 3E +ID Runtime,ICTS 3E +ID Solution Cost,ICTS 3E +ID Expanded,ICTS 3E +ID Generated,ICTS 3E +ID Max Group Size,ICTS 3E +ID Min Group Size,ICTS 3E +ID Max Group,ICTS 3E +ID Solution Depth,EPEA*+ID Success,EPEA*+ID Runtime,EPEA*+ID Solution Cost,EPEA*+ID Expanded,EPEA*+ID Generated,EPEA*+ID Max Group Size,EPEA*+ID Min Group Size,EPEA*+ID Max Group,EPEA*+ID Solution Depth,
+warehouse-10-20-10-2-1,63,161,2,4444,1,25,0.4381347,109,120,98,14.66667,11.33333,0.02168984,0.000350938761186173,1,5779.1502,218,218,356,1,1,1,0,1,2756.9011,218,218,356,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,3,4444,1,125,0.4381347,95.6666666666667,120,69,33,38.33333,0.02415459,0.000526408141779259,1,4736.5934,287,287,443,1,1,1,0,1,3220.58,287,287,443,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,4,4444,1,625,0.4381347,111.5,159,69,44,58.8,0.03973183,0.000701877522372346,1,4108.7861,446,446,719,1,1,1,0,1,3803.6693,446,446,719,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,5,4444,1,3125,0.4381347,91.2,159,10,45.2,57.73333,0.04081633,0.000877346902965433,1,7068.4831,456,456,750,1,1,1,0,1,9186.8889,456,456,750,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,6,4444,1,15625,0.4381347,80.5,159,10,55.09524,63.71429,0.04347826,0.00105281628355852,1,12053.2419,483,483,806,1,1,1,0,1,5862.49329999999,483,483,806,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,7,4444,1,78125,0.4381347,81.1428571428571,159,10,55.21429,65.28571,0.05195701,0.00122828566415161,1,12576.9882,568,568,945,1,1,1,0,1,6410.56,568,568,945,1,1,1,0,
+warehouse-10-20-10-2-1,63,161,8,4444,1,390625,0.4381347,92.75,174,10,61.55556,66.16666,0.06881593,0.00140375504474469,1,9377.0555,742,742,1265,1,1,1,0,1,6385.16840000001,742,742,1265,1,1,1,0,
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		GridName,GridRows,GridColumns,NumOfAgents,NumOfObstacles,InstanceId,BranchingFactor,ObstacleDensity,AvgDistanceToGoal,MaxDistanceToGoal,MinDistanceToGoal,AvgStartDistances,AvgGoalDistances,PointsAtSPRatio,Sparsity,ICTS 3E +ID Success,ICTS 3E +ID Runtime,ICTS 3E +ID Solution Cost,ICTS 3E +ID Expanded,ICTS 3E +ID Generated,ICTS 3E +ID Max Group Size,ICTS 3E +ID Min Group Size,ICTS 3E +ID Max Group,ICTS 3E +ID Solution Depth,EPEA+ID Success,EPEA+ID Runtime,EPEA+ID Solution Cost,EPEA+ID Expanded,EPEA+ID Generated,EPEA+ID Max Group Size,EPEA+ID Min Group Size,EPEA+ID Max Group,EPEA*+ID Solution Depth,