COMP0037 2020/21 Coursework 1
COMP0037 Teaching Team
16th February 2021
• Coursework 01 Release Data: Friday, 5th February 2021; Latest Revision 17th February
• Assignment Due Date: Monday, 1st March 12:00 (Midday UK time) 2021
• Weighting: 40% of the module total
• Final Submission Format: Each group submits three things:
1. A zip file (which contains the source code implemented to tackle this coursework).
The name of the zip file must be of the form COMP0037_CW1_GROUP_g.zip,
where g is the letter code of your group.
2. A report in PDF format. It will be named COMP0037_CW1_GROUP_g.pdf.
3. A video which describes your answers. You may use a variety of video formats, but
the video must be playable by VLC. It will be named
We are aware that you can find implementations of almost all of these algorithms on the
web. However, we strongly recommend you attempt to implement the code yourselves, because
that is the most effective way to learn.
We will give credit for code you write yourselves. If you use code from a third party source,
you must credit where it comes from. If we identify uncredited code, we will treat it as plagia-
The total marks for each question are written in the form [X marks]. In some cases, the
marks will be written as [m + n(c) marks], where n(c) are the marks from writing your own
code and m are the marks for all the other part of the question. The balance varies across the
individual sub-parts of questions. However, about approximately 67% of the total coursework
marks are from your analysis and 33% from your coding of the algorithms.
The final mark will be computed by summing all the marks awarded on individual questions
together and dividing by the mark total.
Neither the video nor the code will be independently marked but must be provided. Both
will be checked.
Note that the bulk of the marks are not be on the coding, but on your analysis and interpre-
tation of the results.
All the questions in this part of the module are grounded on an example of a robot which
automatically cleans an airport arrivals area. Airports are generally very busy places and require
Figure 1 shows an overview of the environment the robot operates in. Passengers arrive
at the top of the map, collect their luggage from the baggage reclaim areas (R1–R4) and pass
through customs. Beyond there are various food vendors and a waiting area. There are four
toilet blocks (T1–T4). T1 and T4 are before customs, and T2 and T3 are after customs. Four
charging stations are located throughout the terminal (C1–C4). To be able to move between the
customs and open area, the robot has a secret robot door that only it can access. Rubbish will
be deposited differently in different areas.
1. The cleaning robot is powered by battery which becomes depleted during regular opera-
tion. In the airport, there are four designated charging locations C1, C2, C3 and C4. Each
charging location has a different charging rate resulting in variable charging time. The
electrical engineers working on the problem have been able to model the charging rate as
a Gaussian distribution. The mean varies at each location, but the variance is 1. The robot
Figure 1: Overview of the arrivals area scenario. This is very loosely based on Heathrow
Terminal 4. (Please note this figure does not mark the customs area or the robot access tunnel.
These details are shown in Figure 2.)
3 TURN OVER
has been tasked with learning the best charging location but can only do so with observed
charging rates (does not know the modelling information). Assume the robot starts equal
distance to all locations, only the charging rate should be considered. Charging rates di-
rectly determine charging times. Higher rates result in shorter times and lower rates result
in higher times.
Charging Location Mean Charging Rates (Amps)
Table 1: Charging information for locations.
a. Briefly describe how this problem can be expressed as a bandit and specify the
number of arms. Develop a multi-arm bandit simulation to simulate the charging
rates by the different stations. Generate violin plots to visualise the locations using
the data generated from your simulator.
b. Define regret, and briefly explain why it is used to assess the performance of a
solution for these of problems. Although we can use regret for this problem, why
might it not be an available tool for other problems?
c. Briefly describe and implement the -greedy strategy for this bandit problem with
= 0.1. Present results for 2, 000 Monte Carlo runs averaged over 1000 timesteps.
d. A number of ways to improve the -greedy approach have been proposed. Briefly
describe one approach, implement it, and demonstrate its performance.
e. Briefly describe Upper-Confidence-Bound (UCB) Action Selection. What is the
basic differentiating principle when compared to other strategies? Implement and
present the results on the scenario when the degree of exploration is 1.
f. Investigate the performance of the UCB for several different choices of the degree
of exploration. What trend do you observe, and what do you think is the value which
gives the best performance. How do you think the degree of exploration relates to
the variance of the charging rates?
[Total 105 marks]
5 TURN OVER
2. Now that the robot has identified the charging station which will be used, the engineers
now begin to explore how the robot can reconcile the problems of keeping itself charged
while undertaking its mission to keep the arrivals area clean. The robot’s battery can be in
one of three states: high, medium or low. The robot has three activities it can undertake.
These are search (look for rubbish), wait (wait for rubbish to accumulate), or recharge
(replenish its battery).
The problem is modelled as an episodic Markov Decision Problem (MDP).
At the start of each episode, the robot is at the charging station and its battery is fully
charged. The robot carries out a series of activities, one per time step. The episode
terminates when the robot runs out of power and its battery becomes flat.
The battery state transition depends upon the activity the robot undertakes:
• Search: If the battery level is high, the probability that the battery will remain high
is 1 − α, the probability that it becomes medium is 2α
and the probability that it
becomes low is α
. If the battery level is medium, there is a probability 1 − β that
it remains at medium, and a probability β that it becomes low. Finally, if the robot
battery level is low, there is a probability 1 − γ that it remains in a low state, and a
probability γ that the battery becomes flat. If the battery becomes flat, the robot has
to be manually taken to a charging station and the episode ends.
• Wait: The battery state remains the same with probability 1.
• Recharge: If the battery state is high, it remains high with probability 1. If the
battery state is medium, there is a probability 1 − δ that it will remain at medium
(does not charge), and a probability δ that it will become high. Finally, if the battery
state is low, the battery will change its state from low to medium with probability δ
and stay low with probability 1− δ.
At each time step, the robot receives a reward signal. The reward signal depends upon the
robot’s current activity. When searching for rubbish, the reward is rsearch per time step.
While waiting for rubbish to accumulate the reward is rwait. The rewards for recharging
is rrecharge. If the robot runs out of charge, a human has to push it to a charging station.
The reward is rdischarged.
To help you, we provide a set of Python files in the accompanying file Q2.zip. These
files are based off of the code provided in the workbook for laboratory 2.
a. Define what a Finite Markov Decision Process (FMDP) is, and describe the main
components of it.
b. Define what s, r and a are for this problem, and construct the table of values for
the state transition probability p(s′|s, a) and the reward function r(s, a, s′). Your
answer should incorporate the fact that the task is episodic.
The parameters needed to fully define the scenario are given in Table 2.
Parameter Value Parameter Value
α 0.4 β 0.1
γ 0.1 δ 0.9
rsearch 10 rwait 5
rdischarge -10 rrecharge 0
Table 2: The parameter values.
c. Implement the FMDP for this problem by extending the Python code which has
been provided (which is based on the scenario you saw in Lab 2). Ensure your code
is parameterised so that arbitrary values for the parameters can be used. Present and
explain the source code of your implementation. Propose a method to check if your
implementation is correct, and present experimental results to verify its correctness.
Your experiments should use the values provided in Table 2.
d. Explain what policy evaluation and how it is calculated. Explain how can it be used
to help the designer propose policies to control how the robot behaves.
7 TURN OVER
The engineer proposes to use random policies. Each policy has the form pi(a|s). Two
policies (pi1 and pi2) have been identified, and for the non-terminal state they are shown in
Table 3. In addition to the random policy, a greedy policy pig is learned using the -greedy
State Wait Search Recharge
Low 1/3 1/3 1/3
Medium 1/3 1/3 1/3
High 1/3 1/3 1/3
pi1: Uniformly Random Policy
State Wait Search Recharge
Low 0.8 0.1 0.1
Medium 0.2 0.8 0
High 0.2 0.8 0
pi2: Tuned Random Policy
Table 3: The two policies.
e. Implement the policy evaluation algorithm. Present and explain your code. Apply it
to your implementation of the FMDP. Show that the value functions are
1596 1605 1492 0
Similarly show the policy evaluation functions for pi1 and pig. Rank the different
policies and identify which, if any, is the best. Explain your reasoning.
f. A single day consists of fifty time steps, after which the episode resets. The state
transition probabilities and reward functions are the same for all timesteps. Propose
a way to expand the state space and the FMDP to incorporate this time dependency.
You do not have to implement your solution.
[Total 125 marks]
3. The cleaning robot has been tasked with finding locations to clean (food, toilets) while
avoiding high traffic areas (reclaim, waiting area). Figure 2 depicts a discretised map of
the airport, where the cleaning locations and high traffic area locations are given. Entering
a cleaning location or high traffic area ends the episode, and the robot will be randomly
placed in a valid empty position on the grid at the start of the next episode. To move on
the map, the robot can rotate clockwise and counterclockwise, which changes the heading
but remains at the same position. It can also move forward (in the direction of heading).
Barriers and customs area are no-go zones. Attempting to enter these zones will result in
no change in position. The robot has access to a trapdoors at location x = 4, y = 8 and
x = 2, y = 8. To use it, the robot must be at the trapdoor position, heading east. With a
forward action, the next position will be the other trapdoor heading west.
Figure 2: Discretised map of Figure 1. This figure is drawn to scale. Therefore, you may consult
it to identify coordinates of different areas in the map.
The engineers have also developed a reward function for the robot to use. If the robot
reaches a cleaning location it will receive a +10 reward whereas entering a high traffic
area will result in a −10 reward. Any movement (turning or moving forward) costs the
robot −1 reward.
The engineers initially assume that there are no substantial disturbances. Therefore, there
are no nature actions, and the behaviour of the robot is completely deterministic.
9 TURN OVER
Figure 3: The optimal state value function for the cleaning robot in a simple grid world envi-
ronment which is 3 × 4 cells. There are two terminal states — a +10 win state, and a -10 lose
state. Note the four different graphs are used to capture the robot state (x, y, θ).
To develop and debug solutions, the engineers have initially developed an empty grid-
world. This is a 4 × 3 grid of empty cells which contains a single cleaning location, a
single high traffic location, and travel costs.
a. The engineers propose to use policy iteration to develop a policy to control the
behaviour of the robot. Describe what policy iteration is for the deterministic case,
and explain the main steps used in the iteration process. Your answer should include
an explanation of the test used to determine when the optimal conditions have been
b. Implement the policy iteration algorithm on the empty gridworld, using the provided
code as a base. Present and explain your implementation. Your computed value
function should be identical to that shown in Figure 3.
c. Present the final policy computed by your implementation and argue whether it is
reasonable or not. One idea for doing this would be to illustrate the trajectory the
robot takes from different locations. This includes visualizing the policy and the
d. Implement value iteration on the empty gridworld and present the final state value
function and policy. Compare issue such as iterations results with policy iteration
and identify similarities and differences. Do you think value iteration is better or
worse in this case?
e. Present the final policy computed by the policy iteration and value iteration methods.
As with Part c., argue whether you think think the policy is reasonable and illustrate
by considering, for example, some of the trajectories the robot undertakes.
f. Suppose the robot is unsure of its next state due to a malfunctioning local planner.
This can be modelled as a nature action. Luckily, the cleaning robot has been fitted
with a uncertainty modelling mechanism. Specifically, the robot can model the
uncertainty with the transition probability function of the form
Pss′ = P(s′|s, a) = P[St+1 = s′|St = s, At = a] (1)
where s′ is the next state, s is the current state, t is the current step and a is the
action. With this new stochastic environment, describe how your approach in policy
iteration and evaluation changes.
[Total 180 marks]
11 TURN OVER
Please note that the video is not separately marked or graded. However, you must submit a
video if your coursework mark is to count. The reason for providing a video is to help reduce
the prevalence of plagiarism. We are not looking to mark / penalise presentation skills.
In your video, you will discuss your solution for each part you attempted for the coursework
above. Each video will feature all the members of the team. Each member of the team will
be expected to speak for at least a minute, and the overall video should run between 3 and 10
minutes. (Please note that there is no assumption that longer is better. Rather, producing a very
compact short video can take a very long amount of time, which is not the intent of this task.)
The video should include the following:
• An introduction to the team. Each team member must introduce themselves on camera.
• For each part of the coursework attempted, explain your solution. You do not need to
produced a polished presentation. It is sufficient to highlight parts of the report or code
using a mouse cursor and to discuss the presented text. Simply reading out the text of the
solution is not sufficient. Instead, you should discuss your solution and identify things
such as where the challenges lie.
• For each part of the coursework not attempted, provide a brief explanation of why this
was the case.
Recordings carried out using Zoom, Teams, etc. are more than sufficient. One idea might
be to arrange a group call in which each person in turn shares their screen and explains one of
the questions answered. If you can show videos of algorithms running in real-time this is even
more effective, but it is not mandatory.
There are a variety of ways to encode videos including the standard formats used in Zoom
or Teams. As noted, the requirement is that the video must be playable by VLC 3.0.5 or later
(https://www.videolan.org/vlc/releases/3.0.5.html). (VLC is supported
on Linux, Mac and Windows. It is typically plays a much wider range of media than, say, the
Windows Media Player or the QuickTime Player.) Note that moodle has a maximum file upload
size of 160MB.
You are encouraged to use the assignment discussion forum to help when you get stuck. Please
check the forum regularly and try and answer each other’s questions. Notifications should
now be set up, and we will be checking the forum as often as we can and will be answering
any questions that have remained unanswered. Please note that if you have questions about
coursework, please post them to the forum directly rather than emailing me. The reason is that
all students will be able to see the reply.
Submission and Feedback
The deadline for submission is 12:00 (midday) on Monday 22nd February, 2021. Late penal-
ties will start to accrue if any element of the submission (report, code or video) has a receipt
time of 12:01 or later.