Skip to content

Let coverage dominate Household Orders sweep scoring #698

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
axelpey wants to merge 1 commit into
base: codex/household-orders-fast-observation
Choose a base branch
from
Draft

Let coverage dominate Household Orders sweep scoring #698

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions ros2_ws/src/brain/brain_client/test/test_household_resident_roster.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2509,11 +2509,11 @@ def visible(_plan, row, col, _theta):
assert (view.row, view.col) == same_side


def test_sweep_information_utility_prefers_efficient_gain_over_long_detour():
def test_sweep_information_utility_lets_extra_coverage_outweigh_a_detour():
nearby = search_module._coverage_travel_utility(40, 2.0, sweeping=True)
distant = search_module._coverage_travel_utility(50, 8.0, sweeping=True)

assert nearby > distant
assert distant > nearby
assert search_module._coverage_travel_utility(50, 0.0, sweeping=True) == 50


Expand Down
14 changes: 6 additions & 8 deletions workspace/innate_skills/find_next_person.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,8 @@
MAX_VIEWPOINTS = 240
MIN_NEW_CELLS = 6
INITIAL_TRAVEL_COST_CELLS_PER_M = 12.0
SWEEP_INFORMATION_DECAY_PER_M = 0.35
SWEEP_NOVELTY_BONUS_CELLS_PER_M = 2.0
SWEEP_NOVELTY_BONUS_MAX_M = 2.0
SWEEP_TRAVEL_COST_CELLS_PER_M = 1.0
SWEEP_NOVELTY_BONUS_CELLS_PER_M = 10.0
SWEEP_BACKTRACK_PENALTY_CELLS = 12.0
HANDLED_PERSON_ESTIMATED_DISTANCE_M = 1.5
HANDLED_PERSON_VIEW_PENALTY_CELLS = 220.0
Expand Down Expand Up @@ -395,10 +394,9 @@ def _distance_from_observations(x: float, y: float, observations: list[dict]) ->


def _coverage_travel_utility(gain: int, route_distance_m: float, *, sweeping: bool) -> float:
"""Score information against actual route cost without rewarding long trips."""
if not sweeping:
return gain - INITIAL_TRAVEL_COST_CELLS_PER_M * route_distance_m
return gain / (1.0 + SWEEP_INFORMATION_DECAY_PER_M * route_distance_m)
"""Keep the first view local, then let coverage gain dominate route length."""
travel_cost = SWEEP_TRAVEL_COST_CELLS_PER_M if sweeping else INITIAL_TRAVEL_COST_CELLS_PER_M
return gain - travel_cost * route_distance_m


def _backtrack_penalty(x: float, y: float, observations: list[dict]) -> float:
Expand Down Expand Up @@ -534,7 +532,7 @@ def score_candidates(candidates: list[tuple[int, int]]) -> _View | None:
)
score = (
_coverage_travel_utility(gain, evaluation_distance, sweeping=bool(observations))
+ SWEEP_NOVELTY_BONUS_CELLS_PER_M * min(novelty, SWEEP_NOVELTY_BONUS_MAX_M)
+ SWEEP_NOVELTY_BONUS_CELLS_PER_M * novelty
- _backtrack_penalty(evaluation_x, evaluation_y, observations)
- 0.5 * _angular_distance(theta, pose.theta)
- person_view_penalty
Expand Down
Loading