Merge branch 'fix-recurrent-inputNode-connections' into 'master'

Multiple Improvements for Neatest

See merge request se2/whisker/whisker-main!373

README.md

@@ -247,3 +247,13 @@ Whisker is supported by the project FR 2955/3-1 funded by the
   doi           = {10.48550/arXiv.2304.06413}
 }
 ```
+
+```
+@inproceedings{nuzzlebug24,
+  author    = {Adina Deiner and Gordon Fraser},
+  title     = {NuzzleBug: Debugging Block-Based Programs in Scratch },
+  booktitle = {ACM/IEEE International Conference on Software Engineering (ICSE)},
+  publisher = {{IEEE}},
+  year      = {2024}
+}
+```

config/Neuroevolution/neatest.json

@@ -2,12 +2,12 @@
     "testGenerator": "neuroevolution",
     "algorithm": "neatest",
     "eventSelection": "activation",
-    "populationSize": 300,
-    "numberOfSpecies": 10,
+    "populationSize": 150,
+    "numberOfSpecies": 5,
     "parentsPerSpecies": 0.20,
     "penalizingAge": 15,
     "ageSignificance": 1.0,
-    "switchTargetCount": 5,
+    "switchTargetCount": 10,
     "extractor": "neuroevolution",
     "aTRepetitions": 0,
     "chromosome": {
@@ -26,12 +26,12 @@
         "mutationWithoutCrossover": 0.25,
         "mutationAddConnection": 0.05,
         "recurrentConnection": 0.1,
-        "addConnectionTries": 50,
+        "addConnectionTries": 10,
         "populationChampionNumberOffspring": 3,
         "populationChampionNumberClones": 1,
         "populationChampionConnectionMutation": 0.3,
         "mutationAddNode": 0.03,
-        "mutateWeights": 0.5,
+        "mutateWeights": 0.8,
         "perturbationPower": 1,
         "mutateToggleEnableConnection": 0.1,
         "toggleEnableConnectionTimes": 3,
@@ -51,11 +51,11 @@
         "type": "reliableStatement",
         "timeout": 10000,
         "stableCount": 10,
-        "earlyStop": true
+        "earlyStop": false
     },
     "population": {
         "strategy": "global_solutions",
-        "randomFraction": 0.1
+        "randomFraction": 0.3
     },
     "stoppingCondition": {
         "type": "combined",

config/Neuroevolution/neatestBackprop.json

@@ -2,7 +2,7 @@
     "testGenerator": "neuroevolution",
     "algorithm": "neatest",
     "eventSelection": "activation",
-    "populationSize": 100,
+    "populationSize": 150,
     "numberOfSpecies": 5,
     "parentsPerSpecies": 0.20,
     "penalizingAge": 15,
@@ -21,7 +21,7 @@
         "epochs": 1000,
         "batchSize": 1,
         "labelSmoothing": 0,
-        "probability": 1,
+        "probability": 0.6,
         "peerToPeerSharing": false,
 
         "dataAugmentation": {
@@ -42,7 +42,7 @@
         "mutationWithoutCrossover": 0.25,
         "mutationAddConnection": 0.05,
         "recurrentConnection": 0.1,
-        "addConnectionTries": 50,
+        "addConnectionTries": 10,
         "populationChampionNumberOffspring": 3,
         "populationChampionNumberClones": 1,
         "populationChampionConnectionMutation": 0.3,

whisker-main/src/whisker/testcase/NeuroevolutionScratchEventExtractor.ts

@@ -1,7 +1,6 @@
 import {ScratchBlocks} from "./ScratchEventExtractor";
 import VirtualMachine from "scratch-vm/src/virtual-machine";
 import {ScratchEvent} from "./events/ScratchEvent";
-import {DragSpriteEvent} from "./events/DragSpriteEvent";
 import {KeyPressEvent} from "./events/KeyPressEvent";
 import {MouseMoveEvent} from "./events/MouseMoveEvent";
 import {Container} from "../utils/Container";
@@ -112,7 +111,7 @@ export class NeuroevolutionScratchEventExtractor extends DynamicScratchEventExtr
                     const currentMousePosition = Container.vmWrapper.inputs.getMousePos();
                     // Only add a MouseMoveTo event if the mouse is currently not located at the targeted position.
                     if (currentMousePosition.x !== target.x || currentMousePosition.y !== target.y) {
-                        eventList.push(new MouseMoveToEvent(target.x, target.y));
+                        eventList.push(new MouseMoveToEvent(target.x, target.y, target.sprite.name));
                     }
                     eventList.push(new MouseMoveEvent());
                 }

whisker-main/src/whisker/testcase/ScratchEventExtractor.ts

@@ -249,7 +249,7 @@ export abstract class ScratchEventExtractor {
                     const currentMousePosition = Container.vmWrapper.inputs.getMousePos();
                     // Only add a MouseMoveTo event if the mouse is currently not located at the targeted position.
                     if (currentMousePosition.x !== target.x || currentMousePosition.y !== target.y) {
-                        eventList.push(new MouseMoveToEvent(target.x, target.y));
+                        eventList.push(new MouseMoveToEvent(target.x, target.y, target.sprite.name));
                     }
                     eventList.push(new MouseMoveEvent());
                 }

whisker-main/src/whisker/testcase/events/MouseMoveToEvent.ts

@@ -24,40 +24,42 @@ import {Container} from "../../utils/Container";
 export class MouseMoveToEvent extends ScratchEvent {
 
 
-    private readonly x: number;
-    private readonly y: number;
+    private _x: number;
+    private _y: number;
+    private readonly _sprite: string;
 
-    constructor(x: number, y: number) {
+    constructor(x: number, y: number, sprite: string) {
         super();
-        this.x = x;
-        this.y = y;
+        this._x = x;
+        this._y = y;
+        this._sprite = sprite;
     }
 
     async apply(): Promise<void> {
-        Container.testDriver.mouseMove(this.x, this.y);
+        Container.testDriver.mouseMove(this._x, this._y);
     }
 
     public toJavaScript(): string {
-        return `t.mouseMove(${Math.trunc(this.x)}, ${Math.trunc(this.y)});`;
+        return `t.mouseMove(${Math.trunc(this._x)}, ${Math.trunc(this._y)});`;
     }
 
     public toJSON(): Record<string, any> {
         const event = {};
         event[`type`] = `MouseMoveToEvent`;
-        event[`args`] = {"x": this.x, "y": this.y};
+        event[`args`] = {"x": this._x, "y": this._y};
         return event;
     }
 
     public toString(): string {
-        return "MouseMoveToEvent " + Math.trunc(this.x) + "/" + Math.trunc(this.y);
+        return "MouseMoveToEvent " + Math.trunc(this._x) + "/" + Math.trunc(this._y);
     }
 
     numSearchParameter(): number {
         return 0;
     }
 
     getParameters(): [number, number] {
-        return [this.x, this.y];
+        return [this._x, this._y];
     }
 
     getSearchParameterNames(): [] {
@@ -69,6 +71,18 @@ export class MouseMoveToEvent extends ScratchEvent {
     }
 
     stringIdentifier(): string {
-        return `MouseMoveToEvent-${this.x}-${this.y}`;
+        return `MouseMoveToEvent-${this.sprite}`;
+    }
+
+    get sprite(): string {
+        return this._sprite;
+    }
+
+    set x(value: number) {
+        this._x = value;
+    }
+
+    set y(value: number) {
+        this._y = value;
     }
 }

whisker-main/src/whisker/whiskerNet/Algorithms/Neatest.ts

@@ -50,7 +50,7 @@ export class Neatest extends NEAT {
     /**
      * Saves target ids of objectives that have already been switched out in order to prioritise different ones.
      */
-    private _switchedTargets: string[] = [];
+    private _switchedTargets = new Set<string>();
 
     /**
      * Holds a record of promising targets, i.e. the maximum amount of how often a target has accidentally already been
@@ -60,7 +60,7 @@ export class Neatest extends NEAT {
 
     /**
      * Searches for a suite of networks that are able to cover all statements of a given Scratch program reliably.
-     * @returns a Map mapping a statement's key to the network capable of reaching the given statement reliably.
+     * @returns Mapping of a statement's key to the network capable of reaching the given statement reliably.
      */
     override async findSolution(): Promise<Map<number, NeatChromosome>> {
         this.initialise();
@@ -94,12 +94,12 @@ export class Neatest extends NEAT {
                 // Switch the target if we stop improving for a set number of times and have statements to which we
                 // can switch to left
                 const uncoveredStatementIds = this.getUncoveredStatements().map(statement => statement.getTargetNode().id);
-                const uncoveredUntouchedTargets = uncoveredStatementIds.filter(targetId => !this._switchedTargets.includes(targetId));
+                const uncoveredUntouchedTargets = uncoveredStatementIds.filter(targetId => !this._switchedTargets.has(targetId));
                 if (this._population.highestFitnessLastChanged >= this._neuroevolutionProperties.switchTargetCount &&
                     uncoveredUntouchedTargets.length > 0) {
                     const currentTargetId = this._fitnessFunctionMap.get(this._targetKey).getTargetNode().id;
-                    this._switchedTargets.push(currentTargetId);
-                    Container.debugLog("Switching Target due to missing improvement.");
+                    this._switchedTargets.add(currentTargetId);
+                    Container.debugLog("Switching Target " + currentTargetId + " due to missing improvement.");
                     break;
                 }
 
@@ -159,7 +159,7 @@ export class Neatest extends NEAT {
         // were not selected as target yet.
         if (nextTarget === undefined) {
             const uncoveredUntouchedTargets = new Set([...potentialTargets].filter(target =>
-                !this._switchedTargets.includes(target.getTargetNode().id)));
+                !this._switchedTargets.has(target.getTargetNode().id)));
             potentialTargets = uncoveredUntouchedTargets.size > 0 ? uncoveredUntouchedTargets : potentialTargets;
             let mostPromisingTargets = [];
             let mostPromisingValue = 0;
@@ -185,7 +185,7 @@ export class Neatest extends NEAT {
             }
         }
 
-        // If no target looks promising we pick the next target randomly.
+        // If no target looks promising, we pick the next target randomly.
         if (nextTarget === undefined) {
             nextTarget = Randomness.getInstance().pick(Array.from(potentialTargets));
         }
@@ -249,7 +249,7 @@ export class Neatest extends NEAT {
             // reached a previously not targeted statement without reaching the actual target statement at least once.
             if (this._promisingTargets.get(this._targetKey) < 1) {
                 const uncoveredTargetIds = this.getUncoveredStatements().map(target => target.getTargetNode().id);
-                const untouchedUncovered = uncoveredTargetIds.filter(target => !this._switchedTargets.includes(target));
+                const untouchedUncovered = uncoveredTargetIds.filter(target => !this._switchedTargets.has(target));
                 for (const [key, value] of this._promisingTargets) {
                     if (value > 0 && untouchedUncovered.includes(this._fitnessFunctionMap.get(key).getTargetNode().id)) {
                         this._switchToEasierTarget = true;
@@ -315,11 +315,8 @@ export class Neatest extends NEAT {
         const fitnessFunction = this._fitnessFunctions.get(fitnessFunctionKey);
         const coverageStableCount = network.openStatementTargets.get(fitnessFunctionKey);
         const statementFitness = await fitnessFunction.getFitness(network);
-        return (coverageStableCount >= this._neuroevolutionProperties.coverageStableCount &&
-                !this._archive.has(fitnessFunctionKey)) ||
-            (this._neuroevolutionProperties.coverageStableCount == 0 &&
-                await fitnessFunction.isOptimal(statementFitness) &&
-                !this._archive.has(fitnessFunctionKey));
+        return (coverageStableCount >= this._neuroevolutionProperties.coverageStableCount && !this._archive.has(fitnessFunctionKey)) ||
+            (this._neuroevolutionProperties.coverageStableCount == 0 && await fitnessFunction.isOptimal(statementFitness) && !this._archive.has(fitnessFunctionKey));
     }
 
     /**
@@ -333,11 +330,14 @@ export class Neatest extends NEAT {
         Container.debugLog(`Best Network Fitness:  ${this._population.bestFitness}`);
         Container.debugLog(`Current Iteration Best Network Fitness:  ${this._population.populationChampion.fitness}`);
         Container.debugLog(`Average Network Fitness: ${this._population.averageFitness}`);
-        Container.debugLog(`Generations passed since last improvement: ${this._population.highestFitnessLastChanged}`);
-        const sortedSpecies = this._population.species.sort((a, b) => b.averageFitness - a.averageFitness);
+
+        const sortedSpecies = this._population.species.sort((a, b) => b.uID - a.uID);
+        Container.debugLog(`Population of ${this._population.populationSize} distributed in ${sortedSpecies.length} species`);
+        Container.debugLog("\tID\tage\tsize\tfitness\tshared fitness");
         for (const species of sortedSpecies) {
-            Container.debugLog(`Species ${species.uID} has ${species.networks.length} members and an average fitness of ${species.averageFitness}`);
+            Container.debugLog(`\t${species.uID}\t${species.age}\t${species.networks.length}\t${Math.round(species.averageFitness * 100) / 100}\t${Math.round(species.averageSharedFitness * 100) / 100}`);
         }
+        Container.debugLog(`Generations passed since last improvement: ${this._population.highestFitnessLastChanged}`);
         Container.debugLog(`Time passed in seconds: ${(Date.now() - this.getStartTime())}`);
         Container.debugLog("\n-----------------------------------------------------\n");
     }

whisker-main/src/whisker/whiskerNet/HyperParameter/NeuroevolutionTestGenerationParameter.ts

@@ -19,12 +19,12 @@ export class NeuroevolutionTestGenerationParameter extends BasicNeuroevolutionPa
     private _numberOfSpecies = 5;
 
     /**
-     * Specifies how many member per species survive in each generation.
+     * Specifies how many members per species survive in each generation.
      */
     private _parentsPerSpecies = 0.20;
 
     /**
-     * Specifies when Species start go get penalized if no improvement is being observed.
+     * Specifies when Species start to get penalised if no improvement is being observed.
      */
     private _penalizingAge = 15;
 

whisker-main/src/whisker/whiskerNet/Misc/NetworkExecutor.ts

@@ -103,8 +103,9 @@ export class NetworkExecutor {
             // Update input nodes and load inputs into the Network.
             const spriteFeatures = InputExtraction.extractFeatures(this._vm);
 
-            // Check if we encountered additional events during the playthrough
-            // If we did so add corresponding ClassificationNodes and RegressionNodes to the network.
+            // Check if we encountered additional sprites/events during the playthrough
+            // If we did so add corresponding input/output nodes to the network.
+            network.updateInputNodes(spriteFeatures);
             network.updateOutputNodes(this.availableEvents);
             const defect = !network.activateNetwork(spriteFeatures);
 

whisker-main/src/whisker/whiskerNet/Misc/StateActionRecorder.ts

@@ -136,7 +136,7 @@ export class StateActionRecorder extends EventEmitter {
 
             // Check if event is present at all. Always include typeTextEvents since they can only be emitted if a
             // question was asked.
-            if (availableActions.some(actionId => actionId.localeCompare(event.stringIdentifier(), 'en', { sensitivity: 'base' }) === 0) ||
+            if (availableActions.some(actionId => actionId.localeCompare(event.stringIdentifier(), 'en', {sensitivity: 'base'}) === 0) ||
                 event instanceof TypeTextEvent || event instanceof TypeNumberEvent) {
                 this._recordAction(event);
             }
@@ -239,7 +239,7 @@ export class StateActionRecorder extends EventEmitter {
                     clearInterval(this._checkForMouseMoveInterval);
                     this._stateAtAction.delete(this.MOUSE_MOVE_ACTION_KEY);
                     event = new ClickSpriteEvent(clickTarget);
-                } else if (availableActions.includes(new MouseDownForStepsEvent().stringIdentifier())){
+                } else if (availableActions.includes(new MouseDownForStepsEvent().stringIdentifier())) {
                     // Check if we had a long period without any actions being executed.
                     this._checkForWait(false);
                     // Register mouse down Event and
@@ -269,8 +269,8 @@ export class StateActionRecorder extends EventEmitter {
             (stepsSinceLastMouseMove > this.MOUSE_MOVE_THRESHOLD || mouseDownNoticed)) {
             const clickTarget = Util.getTargetSprite(this._vm);
             let event: ScratchEvent;
-            if (availableActions.includes(new MouseMoveToEvent(clickTarget.x, clickTarget.y).stringIdentifier())) {
-                event = new MouseMoveToEvent(clickTarget.x, clickTarget.y);
+            if (availableActions.includes(new MouseMoveToEvent(clickTarget.x, clickTarget.y, clickTarget.sprite.name).stringIdentifier())) {
+                event = new MouseMoveToEvent(clickTarget.x, clickTarget.y, clickTarget.sprite.name);
             } else {
                 event = new MouseMoveEvent(this._mouseCoordinates[0], this._mouseCoordinates[1]);
             }
@@ -317,6 +317,16 @@ export class StateActionRecorder extends EventEmitter {
         } else {
             stateFeatures = InputExtraction.extractFeatures(this._vm);
         }
+
+        // Reduce required storage capacity by rounding state values.
+        for (const featureGroup of stateFeatures.values()) {
+            for (const [feature, value] of featureGroup.entries()) {
+                console.log("Prev Feature " + featureGroup.get(feature));
+                featureGroup.set(feature, Math.round(value * 100) / 100);
+                console.log("After feature " + featureGroup.get(feature));
+            }
+        }
+
         let parameter: Record<string, number>;
         switch (event.toJSON()['type']) {
             case "WaitEvent":
@@ -348,6 +358,13 @@ export class StateActionRecorder extends EventEmitter {
                 console.log("Missing event handler: ", event);
         }
 
+        // Reduce required storage capacity by rounding action parameter.
+        for (const key in parameter) {
+            console.log("PRev Param: " + parameter[key]);
+            parameter[key] = Math.round(parameter[key] * 100) / 100;
+            console.log("After Param: " + parameter[key]);
+        }
+
         const record: ActionRecord = {
             state: stateFeatures,
             action: action,

whisker-main/src/whisker/whiskerNet/NetworkFitness/ReliableStatementFitness.ts

@@ -81,13 +81,14 @@ export class ReliableStatementFitness implements NetworkFitnessFunction<NetworkC
             await ReliableStatementFitness.updateUncoveredMap(network);
             executor.resetState();
 
-            // Stop if we failed to cover our target statement.
+            // If the chromosome did not manage to reach the target statement, add the inverted distance toward the
+            // target statement to the fitness function.
             if(!await network.targetFitness.isCovered(network)){
                 network.fitness += (1 / await network.targetFitness.getFitness(network));
-                break;
+                continue;
             }
 
-            // At this point we know that we have covered the statement again.
+            // At this point, we know that we have covered the statement again.
             // If Peer-To-Peer Sharing is activated, add collected state-action trace to gradient descent ground truth data.
             if (Container.backpropagationInstance && Container.peerToPeerSharing) {
                 this._peerToPeerSharing(network);