File size: 2,552 Bytes
aa01643 4835868 aa01643 4835868 aa01643 4835868 aa01643 2bb45a5 4835868 a7cb63d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | """
Hard Task: High-risk zones, sensor failures, conflicting priorities.
4 sensors, 8 targets. Tests advanced allocation behavior.
"""
import random
HARD_TASK_CONFIG = {
"num_sensors": 5,
"num_targets": 8,
"max_steps": 60,
"sensor_failure_prob": 0.15,
"high_risk_zones": [(3, 3), (7, 7), (5, 5)],
"targets": [
{"id": 0, "priority": 3, "position": (3, 3), "dynamic": True, "risk": 0.4},
{"id": 1, "priority": 3, "position": (7, 7), "dynamic": True, "risk": 0.4},
{"id": 2, "priority": 3, "position": (1, 8), "dynamic": True, "risk": 0.2},
{"id": 3, "priority": 3, "position": (8, 1), "dynamic": True, "risk": 0.2},
{"id": 4, "priority": 3, "position": (5, 5), "dynamic": True, "risk": 0.5},
{"id": 5, "priority": 3, "position": (2, 6), "dynamic": False, "risk": 0.1},
{"id": 6, "priority": 2, "position": (6, 2), "dynamic": False, "risk": 0.1},
{"id": 7, "priority": 1, "position": (0, 0), "dynamic": False, "risk": 0.0},
],
"sensors": [
{"id": 0, "range": 5, "available": True},
{"id": 1, "range": 6, "available": True},
{"id": 2, "range": 4, "available": True},
{"id": 3, "range": 7, "available": True},
{"id": 4, "range": 6, "available": True},
],
}
def apply_sensor_failures(sensors, failure_prob):
"""Randomly disable sensors based on failure probability."""
for s in sensors:
if s["available"] and random.random() < failure_prob:
s["available"] = False
elif not s["available"] and random.random() < 0.3:
s["available"] = True # sensor recovers
return sensors
def update_target_positions(targets, high_risk_zones):
"""Move dynamic targets; increase risk if entering a high-risk zone."""
for t in targets:
if t["dynamic"]:
x, y = t["position"]
t["position"] = (
max(0, min(9, x + random.choice([-1, 0, 1]))),
max(0, min(9, y + random.choice([-1, 0, 1]))),
)
t["risk"] = 0.5 if t["position"] in high_risk_zones else t["risk"]
return targets
def get_hard_task():
return HARD_TASK_CONFIG
def get_hard_env():
from env import SentinelEnv
return SentinelEnv(max_steps=HARD_TASK_CONFIG["max_steps"], seed=13, config=HARD_TASK_CONFIG)
def get_hard_multi_env():
from env.multiagent import AryaXEnv
return AryaXEnv(max_steps=HARD_TASK_CONFIG["max_steps"], seed=13, density_factor=4.0, failure_prob=0.15, conflict_injection=True)
|