Adversarial Search 1

Transcription

1 Adversarial Search 1

2 Adversarial Search The ghosts trying to make pacman loose Can not come up with a giant program that plans to the end, because of the ghosts and their actions Goal: Eat lots of dots and lots of ghosts (not most hideous ones) and not die How to come up with an action based on reasoning ahead about what both you and your adversary might do 2

3 Adversarial Search Problems: Games Many different kinds of games! Deterministic or stochastic? Is there any dice? Does any action have multiple random outcomes? One, two, or more players? Multiple agents may cooperate, compete, or act in between. Zero sum? One utility function: you want to make it big and the adversary wants to make it small Perfect information (can you see the state)? Need algorithms for calculating a strategy (policy) which recommends a move in each state 3

4 Deterministic Games Many possible formalizations, one is: States: S (start at s 0 ) Players: P={1... N} (usually take turns) Actions: A (may depend on player/state) Transition Function (also called the model): S A S Terminal Test: S {t, f} (Terminal) Utility Function: S P R Solution for a player is a policy: S A 4

5 Deterministic Single-Player? Deterministic, single player, perfect information: Know the rules Know what actions do Know when you win E.g. 8-Puzzle, Rubik s cube it s just a search! 5

6 Deterministic Single-Player? Like search tree, but there is some end of the game On each leaf (ending node) there is some outcome (+1 win, -1 lose or some real values to specify some states are better than others) In general search costs are incremental we try to minimize cost Games are like general AI we want to maximize utility, all rewards come at the end, no cost on each move In each node select the branch (child) that finally will achieve the win

7 Deterministic Single-Player? it s just a search! Slight reinterpretation: Each node stores a value: the best outcome it can reach under optimal play This is the maximal value of its children (the maxvalue) Note that we don t have path sums as before (utilities are at leaves) Here, value at the root is +1 since you can force the win +1 After search, +1-1 can pick move that leads to best node 7-1

8 Adversarial Games Deterministic, zero-sum games: Tic-tac-toe, chess, checkers One player maximizes result The other minimizes result Minimax search: A state-space search tree Players alternate turns Each node has a minimax value: best achievable utility against a rational (optimal) adversary 8

9 Adversarial Games Deterministic, zero-sum games: Tic-tac-toe, chess, checkers One player maximizes result The other minimizes result Minimax search: A state-space search tree Players alternate turns Each node has a minimax value: best achievable utility against a rational (optimal) adversary 9

10 Computing Minimax Values Two recursive functions: max-value maxes the values of successors min-value mins the values of successors def value(state): If the state is a terminal state: return the state s utility If the agent is MAX: return max-value(state) If the agent is MIN: return min-value(state) def max-value(state): Initialize max = - For each successor of state: Compute value(successor) Update max accordingly Return max 10

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12 Minimax Example? Minmax search performs a complete DFS exploration of game tree?? +??

13 Minimax Example

14 Tic-Tac-Toe Game Tree Fewer than 9! Terminal nodes Minmax value at the root is 0 14

15 Minimax Properties Optimal against a perfect player. Otherwise? If MIN does not play optimally, MAX can do even better (other strategies exist) Time complexity? O(b m ) Exponential Time Totally impractical Space complexity? O(bm) For chess, b 35, m 100 Exact solution is completely infeasible But, do we need to explore the whole tree? 15

16 Two real time approaches when Resource Limits we cannot search to leaves (terminals): Truncate subtrees Depth-limited Search Iterative Deepening Pruning parts of tree proved not be useful Alpha-Beta pruning 16

17 Depth-limited Search Depending how long you have time, search to the right depth Depth-limited search search a limited depth of tree Replace terminal utilities with a heuristic evaluation function Eval for non-terminal positions Guarantee of optimal play is gone More plies makes a BIG difference Example: Suppose we have 100 seconds time for each move, and can explore 10K nodes/sec So can check 1M nodes per move This reaches about depth 8, a decent chess program 17

18 Iterative Deepening If not sure about time, search depth by depth Iterative deepening, use DFS to do BFS Do a DFS which only searches for paths of length 1. (DFS gives up on any path of more than 1) If still have time, do a DFS which only searches paths of length 2 or less. If still have time, do a DFS which only searches paths of length 3 or less..and so on. Note: wrongness of Eval functions matters less and less the deeper the search goes! 18

19 Evaluation Functions Function which scores non-terminal states (estimated achievable utility) Ideal function: returns the exact utility of the state In practice: typically weighted linear sum of features of states: Eval ( 2 s) = w1 f1( s) + w2 f ( s) + K+ wn fn( s) e.g. f 1 (s) = (numwhitequeens numblackqueens), etc. 19

20 Minimax Example 20

21 Pruning in Minimax Search

22 Alpha-Beta Pruning General configuration We re computing the MIN-VALUE at n We re looping over n s children n s value estimate is dropping a is the best value that MAX can get at any choice point along the current path If n s value estimate becomes worse than a, MAX will avoid it, so can stop considering n s other children Define b similarly for MIN 22

23 Alpha-Beta Pruning Example 23

24 Alpha-Beta Pruning Example Starting a/b a= b=+ Raise a a= b=+ a=3 b=+ a=3 b=+ a=3 b=+ Lower b a= b=+ a= b=3 a= b=3 a= b=3 a=3 b=+ a=3 b=2 a=3 b=+ a=3 b=14 a=3 b=5 a=3 b=1 Raise a a= b=3 a=8 b=3 a is MAX s best choice (highest) found so far along the path b is MIN s best choice (lowest) found so far along the path

25 Example trace v = max (v, MinV(child, α, β)) if v β the return v else α = max(α, v) MaxV=3 MaxV=12 MaxV=8 u = min (u, MaxV(child, α, β)) if u α the return u else β = min(β, u)

26 MaxV=2 Example trace

27 Example trace MaxV=14 MaxV=5 MaxV=2

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29 Alpha-Beta Pseudocode 29

30 Alpha-Beta Pruning Properties This pruning has no effect on final result at the root Values of intermediate nodes might be wrong! Important: children of the root may have the wrong value Good child ordering improves effectiveness of pruning With perfect ordering : Time complexity drops to O(b m/2 ) Doubles solvable depth! Full search of, e.g. chess, is still hopeless This is a simple example of metareasoning (computing about what to compute) 30