| """ |
| 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 |
| 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) |
|
|
