diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 097d4f2..035d7e7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -70,7 +70,7 @@ jobs: run: pnpm install --frozen-lockfile - name: Lint dashboard run: pnpm run lint - - name: Build dashboard - run: pnpm run build - - name: Test server rendering, demo data, and Pages export + - name: Test root deployment, server rendering, and demo data + run: pnpm run test:sites + - name: Test GitHub Pages export run: pnpm run test:pages diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml index ddbfff0..dc6da6f 100644 --- a/.github/workflows/pages.yml +++ b/.github/workflows/pages.yml @@ -21,6 +21,18 @@ jobs: steps: - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 - uses: actions/configure-pages@45bfe0192ca1faeb007ade9deae92b16b8254a0d # v6.0.0 + - uses: actions/setup-python@5fda3b95a4ea91299a34e894583c3862153e4b97 # v7.0.0 + with: + python-version: "3.12" + cache: pip + - name: Install simulator and test dependencies + run: python -m pip install -e '.[dev]' + - name: Verify gallery scenarios, provenance, and recorded traces + run: >- + pytest + tests/test_gallery_scenarios.py + tests/test_demo_gallery.py + tests/test_demo_report.py - uses: pnpm/action-setup@0977fd99725f1db4007ccb2928dbb4e90d06cc86 # v6.0.10 with: version: 11.9.0 diff --git a/README.md b/README.md index 563db20..277f54e 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,10 @@ **A reproducible laboratory for planning, reinforcement learning, and hybrid agents in dynamic single-robot warehouse delivery.** -> **[Open the interactive warehouse replay →](https://revincxt.github.io/adaptive-agent-lab/)** -> Compare all six agents on the same paired event tape. The bundled replay is a -> non-confirmatory demonstration, not evidence of an algorithm ranking. +> **[Open the multi-map replay explorer →](https://revincxt.github.io/adaptive-agent-lab/)** +> Inspect six controllers across four structured warehouse layouts. Each case +> is an independent non-confirmatory demonstration, not evidence of an +> algorithm ranking. Adaptive Agent Lab compares six agent families against the same deterministic simulator and seeded dynamic scenarios: @@ -85,14 +86,19 @@ aal benchmark \ --output runs/smoke ``` -Export trajectories for the browser replay: +Export the four-case trajectory gallery for the browser replay: ```bash -aal export-demo \ - --scenario scenarios/medium/maze-warehouse.json \ - --output web/public/demo-data.json +aal export-gallery \ + --config configs/demo-gallery.json \ + --output web/public/demo-data.json \ + --seed 42 ``` +The gallery records this root seed and scenario fingerprints in its provenance. +Decision timing is intentionally not collected for these portable demo tapes; +the interface reports it as unmeasured rather than as a synthetic zero. + Inspect the interactive replay locally (Node.js 22.13+ and pnpm): ```bash @@ -105,7 +111,8 @@ Run `aal --help` or a subcommand's `--help` for the authoritative CLI options. ## Evidence labels -The committed browser data and data produced by `aal export-demo` are +The committed browser data and data produced by `aal export-gallery` or +`aal export-demo` are **non-confirmatory demonstrations**. They train learners for small convenience budgets on the same scenario later used for display. They are useful for checking behavior and replay rendering, but they are not held-out evidence and diff --git a/configs/demo-gallery.json b/configs/demo-gallery.json new file mode 100644 index 0000000..0a4b2b1 --- /dev/null +++ b/configs/demo-gallery.json @@ -0,0 +1,59 @@ +{ + "defaultCaseId": "rack-maze", + "trainingEpisodes": { + "dqn": 80, + "dyna-q": 80, + "hybrid": 40, + "q-learning": 120 + }, + "cases": [ + { + "caseId": "rack-maze", + "mapId": "rack-maze", + "label": "Rack maze", + "description": "Dense rack islands create narrow decision corridors with temporary aisle closures.", + "tags": ["rack storage", "dynamic closures", "dense"], + "display": { + "topology": "Rack islands", + "difficulty": "Moderate" + }, + "scenario": "../scenarios/medium/maze-warehouse.json" + }, + { + "caseId": "parallel-aisles", + "mapId": "parallel-aisles", + "label": "Parallel aisles", + "description": "Long parallel picking aisles emphasize route choice and recovery from blocked crossovers.", + "tags": ["parallel aisles", "long routes", "crossovers"], + "display": { + "topology": "Parallel aisles", + "difficulty": "Accessible" + }, + "scenario": "../scenarios/medium/parallel-aisles.json" + }, + { + "caseId": "cross-dock", + "mapId": "cross-dock", + "label": "Cross-dock", + "description": "Inbound and outbound lanes meet at a shared transfer spine with competing short-haul tasks.", + "tags": ["cross-dock", "transfer spine", "high traffic"], + "display": { + "topology": "Cross-dock spine", + "difficulty": "Moderate" + }, + "scenario": "../scenarios/medium/cross-dock.json" + }, + { + "caseId": "serpentine", + "mapId": "serpentine", + "label": "Serpentine", + "description": "A winding one-way-like corridor stresses long-horizon routing and disruption recovery.", + "tags": ["serpentine", "long horizon", "bottlenecks"], + "display": { + "topology": "Serpentine corridor", + "difficulty": "Challenging" + }, + "scenario": "../scenarios/medium/serpentine.json" + } + ] +} diff --git a/scenarios/medium/cross-dock.json b/scenarios/medium/cross-dock.json new file mode 100644 index 0000000..b339812 --- /dev/null +++ b/scenarios/medium/cross-dock.json @@ -0,0 +1,343 @@ +{ + "battery_capacity": 96, + "event_tape": { + "events": [ + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 7, + "y": 5 + }, + "time": 6 + }, + { + "kind": "order_arrival", + "order_id": "order-001", + "position": null, + "time": 18 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 7, + "y": 5 + }, + "time": 20 + }, + { + "kind": "order_arrival", + "order_id": "order-002", + "position": null, + "time": 42 + }, + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 10, + "y": 10 + }, + "time": 55 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 10, + "y": 10 + }, + "time": 70 + }, + { + "kind": "order_arrival", + "order_id": "order-003", + "position": null, + "time": 75 + } + ], + "schema_version": 1 + }, + "horizon": 160, + "initial_robot": { + "battery": 96, + "carried_order_id": null, + "position": { + "x": 1, + "y": 10 + } + }, + "orders": [ + { + "deadline": 48, + "dropoff": { + "x": 14, + "y": 10 + }, + "order_id": "order-000", + "pickup": { + "x": 7, + "y": 3 + }, + "priority": 3.0, + "release_time": 0 + }, + { + "deadline": 90, + "dropoff": { + "x": 15, + "y": 10 + }, + "order_id": "order-001", + "pickup": { + "x": 8, + "y": 8 + }, + "priority": 2.0, + "release_time": 18 + }, + { + "deadline": 125, + "dropoff": { + "x": 13, + "y": 10 + }, + "order_id": "order-002", + "pickup": { + "x": 2, + "y": 8 + }, + "priority": 2.0, + "release_time": 42 + }, + { + "deadline": 150, + "dropoff": { + "x": 14, + "y": 11 + }, + "order_id": "order-003", + "pickup": { + "x": 13, + "y": 3 + }, + "priority": 3.0, + "release_time": 75 + } + ], + "scenario_id": "cross-dock-demo", + "schema_version": 1, + "warehouse_map": { + "charging_stations": [ + { + "x": 1, + "y": 1 + }, + { + "x": 1, + "y": 10 + }, + { + "x": 14, + "y": 1 + } + ], + "height": 12, + "obstacles": [ + { + "x": 3, + "y": 2 + }, + { + "x": 3, + "y": 3 + }, + { + "x": 3, + "y": 4 + }, + { + "x": 3, + "y": 7 + }, + { + "x": 3, + "y": 8 + }, + { + "x": 3, + "y": 9 + }, + { + "x": 4, + "y": 2 + }, + { + "x": 4, + "y": 3 + }, + { + "x": 4, + "y": 4 + }, + { + "x": 4, + "y": 7 + }, + { + "x": 4, + "y": 8 + }, + { + "x": 4, + "y": 9 + }, + { + "x": 5, + "y": 2 + }, + { + "x": 5, + "y": 3 + }, + { + "x": 5, + "y": 4 + }, + { + "x": 5, + "y": 7 + }, + { + "x": 5, + "y": 8 + }, + { + "x": 5, + "y": 9 + }, + { + "x": 6, + "y": 2 + }, + { + "x": 6, + "y": 3 + }, + { + "x": 6, + "y": 4 + }, + { + "x": 6, + "y": 7 + }, + { + "x": 6, + "y": 8 + }, + { + "x": 6, + "y": 9 + }, + { + "x": 9, + "y": 2 + }, + { + "x": 9, + "y": 3 + }, + { + "x": 9, + "y": 4 + }, + { + "x": 9, + "y": 7 + }, + { + "x": 9, + "y": 8 + }, + { + "x": 9, + "y": 9 + }, + { + "x": 10, + "y": 2 + }, + { + "x": 10, + "y": 3 + }, + { + "x": 10, + "y": 4 + }, + { + "x": 10, + "y": 7 + }, + { + "x": 10, + "y": 8 + }, + { + "x": 10, + "y": 9 + }, + { + "x": 11, + "y": 2 + }, + { + "x": 11, + "y": 3 + }, + { + "x": 11, + "y": 4 + }, + { + "x": 11, + "y": 7 + }, + { + "x": 11, + "y": 8 + }, + { + "x": 11, + "y": 9 + }, + { + "x": 12, + "y": 2 + }, + { + "x": 12, + "y": 3 + }, + { + "x": 12, + "y": 4 + }, + { + "x": 12, + "y": 7 + }, + { + "x": 12, + "y": 8 + }, + { + "x": 12, + "y": 9 + } + ], + "width": 16 + } +} diff --git a/scenarios/medium/parallel-aisles.json b/scenarios/medium/parallel-aisles.json new file mode 100644 index 0000000..dde69ee --- /dev/null +++ b/scenarios/medium/parallel-aisles.json @@ -0,0 +1,319 @@ +{ + "battery_capacity": 96, + "event_tape": { + "events": [ + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 5, + "y": 5 + }, + "time": 6 + }, + { + "kind": "order_arrival", + "order_id": "order-001", + "position": null, + "time": 18 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 5, + "y": 5 + }, + "time": 20 + }, + { + "kind": "order_arrival", + "order_id": "order-002", + "position": null, + "time": 42 + }, + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 10, + "y": 9 + }, + "time": 55 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 10, + "y": 9 + }, + "time": 70 + }, + { + "kind": "order_arrival", + "order_id": "order-003", + "position": null, + "time": 75 + } + ], + "schema_version": 1 + }, + "horizon": 160, + "initial_robot": { + "battery": 96, + "carried_order_id": null, + "position": { + "x": 1, + "y": 10 + } + }, + "orders": [ + { + "deadline": 48, + "dropoff": { + "x": 14, + "y": 10 + }, + "order_id": "order-000", + "pickup": { + "x": 5, + "y": 3 + }, + "priority": 3.0, + "release_time": 0 + }, + { + "deadline": 90, + "dropoff": { + "x": 15, + "y": 10 + }, + "order_id": "order-001", + "pickup": { + "x": 9, + "y": 8 + }, + "priority": 2.0, + "release_time": 18 + }, + { + "deadline": 125, + "dropoff": { + "x": 13, + "y": 10 + }, + "order_id": "order-002", + "pickup": { + "x": 2, + "y": 6 + }, + "priority": 2.0, + "release_time": 42 + }, + { + "deadline": 150, + "dropoff": { + "x": 14, + "y": 11 + }, + "order_id": "order-003", + "pickup": { + "x": 13, + "y": 3 + }, + "priority": 3.0, + "release_time": 75 + } + ], + "scenario_id": "parallel-aisles-demo", + "schema_version": 1, + "warehouse_map": { + "charging_stations": [ + { + "x": 1, + "y": 1 + }, + { + "x": 1, + "y": 10 + }, + { + "x": 14, + "y": 1 + } + ], + "height": 12, + "obstacles": [ + { + "x": 3, + "y": 2 + }, + { + "x": 3, + "y": 3 + }, + { + "x": 3, + "y": 4 + }, + { + "x": 3, + "y": 5 + }, + { + "x": 3, + "y": 6 + }, + { + "x": 3, + "y": 7 + }, + { + "x": 3, + "y": 8 + }, + { + "x": 4, + "y": 2 + }, + { + "x": 4, + "y": 3 + }, + { + "x": 4, + "y": 4 + }, + { + "x": 4, + "y": 5 + }, + { + "x": 4, + "y": 6 + }, + { + "x": 4, + "y": 7 + }, + { + "x": 4, + "y": 8 + }, + { + "x": 7, + "y": 2 + }, + { + "x": 7, + "y": 3 + }, + { + "x": 7, + "y": 4 + }, + { + "x": 7, + "y": 5 + }, + { + "x": 7, + "y": 6 + }, + { + "x": 7, + "y": 7 + }, + { + "x": 7, + "y": 8 + }, + { + "x": 8, + "y": 2 + }, + { + "x": 8, + "y": 3 + }, + { + "x": 8, + "y": 4 + }, + { + "x": 8, + "y": 5 + }, + { + "x": 8, + "y": 6 + }, + { + "x": 8, + "y": 7 + }, + { + "x": 8, + "y": 8 + }, + { + "x": 11, + "y": 2 + }, + { + "x": 11, + "y": 3 + }, + { + "x": 11, + "y": 4 + }, + { + "x": 11, + "y": 5 + }, + { + "x": 11, + "y": 6 + }, + { + "x": 11, + "y": 7 + }, + { + "x": 11, + "y": 8 + }, + { + "x": 12, + "y": 2 + }, + { + "x": 12, + "y": 3 + }, + { + "x": 12, + "y": 4 + }, + { + "x": 12, + "y": 5 + }, + { + "x": 12, + "y": 6 + }, + { + "x": 12, + "y": 7 + }, + { + "x": 12, + "y": 8 + } + ], + "width": 16 + } +} diff --git a/scenarios/medium/serpentine.json b/scenarios/medium/serpentine.json new file mode 100644 index 0000000..8236c01 --- /dev/null +++ b/scenarios/medium/serpentine.json @@ -0,0 +1,343 @@ +{ + "battery_capacity": 96, + "event_tape": { + "events": [ + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 5, + "y": 9 + }, + "time": 6 + }, + { + "kind": "order_arrival", + "order_id": "order-001", + "position": null, + "time": 18 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 5, + "y": 9 + }, + "time": 20 + }, + { + "kind": "order_arrival", + "order_id": "order-002", + "position": null, + "time": 42 + }, + { + "kind": "cell_blocked", + "order_id": null, + "position": { + "x": 10, + "y": 2 + }, + "time": 55 + }, + { + "kind": "cell_unblocked", + "order_id": null, + "position": { + "x": 10, + "y": 2 + }, + "time": 70 + }, + { + "kind": "order_arrival", + "order_id": "order-003", + "position": null, + "time": 75 + } + ], + "schema_version": 1 + }, + "horizon": 160, + "initial_robot": { + "battery": 96, + "carried_order_id": null, + "position": { + "x": 1, + "y": 10 + } + }, + "orders": [ + { + "deadline": 48, + "dropoff": { + "x": 14, + "y": 10 + }, + "order_id": "order-000", + "pickup": { + "x": 5, + "y": 7 + }, + "priority": 3.0, + "release_time": 0 + }, + { + "deadline": 90, + "dropoff": { + "x": 15, + "y": 10 + }, + "order_id": "order-001", + "pickup": { + "x": 9, + "y": 4 + }, + "priority": 2.0, + "release_time": 18 + }, + { + "deadline": 125, + "dropoff": { + "x": 13, + "y": 10 + }, + "order_id": "order-002", + "pickup": { + "x": 2, + "y": 3 + }, + "priority": 2.0, + "release_time": 42 + }, + { + "deadline": 150, + "dropoff": { + "x": 14, + "y": 11 + }, + "order_id": "order-003", + "pickup": { + "x": 13, + "y": 7 + }, + "priority": 3.0, + "release_time": 75 + } + ], + "scenario_id": "serpentine-demo", + "schema_version": 1, + "warehouse_map": { + "charging_stations": [ + { + "x": 1, + "y": 1 + }, + { + "x": 1, + "y": 10 + }, + { + "x": 14, + "y": 1 + } + ], + "height": 12, + "obstacles": [ + { + "x": 3, + "y": 1 + }, + { + "x": 3, + "y": 2 + }, + { + "x": 3, + "y": 3 + }, + { + "x": 3, + "y": 4 + }, + { + "x": 3, + "y": 5 + }, + { + "x": 3, + "y": 6 + }, + { + "x": 3, + "y": 7 + }, + { + "x": 3, + "y": 8 + }, + { + "x": 4, + "y": 1 + }, + { + "x": 4, + "y": 2 + }, + { + "x": 4, + "y": 3 + }, + { + "x": 4, + "y": 4 + }, + { + "x": 4, + "y": 5 + }, + { + "x": 4, + "y": 6 + }, + { + "x": 4, + "y": 7 + }, + { + "x": 4, + "y": 8 + }, + { + "x": 7, + "y": 3 + }, + { + "x": 7, + "y": 4 + }, + { + "x": 7, + "y": 5 + }, + { + "x": 7, + "y": 6 + }, + { + "x": 7, + "y": 7 + }, + { + "x": 7, + "y": 8 + }, + { + "x": 7, + "y": 9 + }, + { + "x": 7, + "y": 10 + }, + { + "x": 8, + "y": 3 + }, + { + "x": 8, + "y": 4 + }, + { + "x": 8, + "y": 5 + }, + { + "x": 8, + "y": 6 + }, + { + "x": 8, + "y": 7 + }, + { + "x": 8, + "y": 8 + }, + { + "x": 8, + "y": 9 + }, + { + "x": 8, + "y": 10 + }, + { + "x": 11, + "y": 1 + }, + { + "x": 11, + "y": 2 + }, + { + "x": 11, + "y": 3 + }, + { + "x": 11, + "y": 4 + }, + { + "x": 11, + "y": 5 + }, + { + "x": 11, + "y": 6 + }, + { + "x": 11, + "y": 7 + }, + { + "x": 11, + "y": 8 + }, + { + "x": 12, + "y": 1 + }, + { + "x": 12, + "y": 2 + }, + { + "x": 12, + "y": 3 + }, + { + "x": 12, + "y": 4 + }, + { + "x": 12, + "y": 5 + }, + { + "x": 12, + "y": 6 + }, + { + "x": 12, + "y": 7 + }, + { + "x": 12, + "y": 8 + } + ], + "width": 16 + } +} diff --git a/src/adaptive_agent_lab/cli.py b/src/adaptive_agent_lab/cli.py index dd71f14..536a4fe 100644 --- a/src/adaptive_agent_lab/cli.py +++ b/src/adaptive_agent_lab/cli.py @@ -22,6 +22,7 @@ from adaptive_agent_lab.reporting.demo import ( DEFAULT_TRAINING_EPISODES, write_demo_data, + write_demo_gallery, ) from adaptive_agent_lab.version import __version__ @@ -155,6 +156,14 @@ def build_parser() -> argparse.ArgumentParser: help="override the episode count for each learning agent", ) demo_parser.set_defaults(handler=_handle_export_demo) + + gallery_parser = subparsers.add_parser( + "export-gallery", help="train fresh demo agents for each configured gallery case" + ) + gallery_parser.add_argument("--config", type=Path, required=True) + gallery_parser.add_argument("--output", type=Path, required=True) + gallery_parser.add_argument("--seed", type=_nonnegative_int, default=42) + gallery_parser.set_defaults(handler=_handle_export_gallery) return parser @@ -355,6 +364,25 @@ def _handle_export_demo(args: argparse.Namespace) -> int: return 0 +def _handle_export_gallery(args: argparse.Namespace) -> int: + payload = write_demo_gallery( + args.output, + args.config, + root_seed=args.seed, + ) + cases = payload["cases"] + default_case_id = payload["defaultCaseId"] + root_seed = payload["rootSeed"] + assert isinstance(cases, list) + assert isinstance(default_case_id, str) + assert isinstance(root_seed, int) + print( + f"wrote {args.output} | gallery cases={len(cases)} | " + f"default={default_case_id} | seed={root_seed}" + ) + return 0 + + def _positive_int(value: str) -> int: parsed = int(value) if parsed < 1: diff --git a/src/adaptive_agent_lab/learning/replay.py b/src/adaptive_agent_lab/learning/replay.py index f663910..41347c1 100644 --- a/src/adaptive_agent_lab/learning/replay.py +++ b/src/adaptive_agent_lab/learning/replay.py @@ -138,9 +138,19 @@ def sample(self, batch_size: int) -> tuple[Transition[StateT, ActionT], ...]: """Return a deterministic seeded sample without replacement.""" self._validate_batch_size(batch_size) - logical = self.transitions() - indices = self._rng.sample(range(self._size), batch_size) - return tuple(copy.deepcopy(logical[index]) for index in indices) + logical_indices = self._rng.sample(range(self._size), batch_size) + sampled: list[Transition[StateT, ActionT]] = [] + for logical_index in logical_indices: + storage_index = ( + logical_index + if self._size < self._capacity + else (self._next_index + logical_index) % self._capacity + ) + transition = self._storage[storage_index] + if transition is None: # Defensive guard for internal invariants. + raise RuntimeError("replay buffer storage is inconsistent") + sampled.append(copy.deepcopy(transition)) + return tuple(sampled) def sample_batch(self, batch_size: int) -> ReplayBatch: """Sample and stack numeric transitions into homogeneous NumPy arrays.""" diff --git a/src/adaptive_agent_lab/reporting/demo.py b/src/adaptive_agent_lab/reporting/demo.py index 1840372..d6098da 100644 --- a/src/adaptive_agent_lab/reporting/demo.py +++ b/src/adaptive_agent_lab/reporting/demo.py @@ -2,9 +2,12 @@ from __future__ import annotations +import json from collections.abc import Mapping +from dataclasses import dataclass from datetime import UTC, datetime from pathlib import Path +from typing import cast from adaptive_agent_lab.agents.base import Agent from adaptive_agent_lab.agents.dqn import DQNAgent, DQNConfig @@ -22,6 +25,9 @@ "hybrid": 40, } +DEMO_GALLERY_SCHEMA_VERSION = 2 +DEMO_VERIFICATION_STATUS = "DEMO · NON-CONFIRMATORY · PAIRED TAPE" + AGENT_PRESENTATION: Mapping[str, tuple[str, str, str]] = { "planning": ( "Open-loop A*", @@ -65,6 +71,18 @@ } +@dataclass(frozen=True) +class _GalleryCaseSpec: + case_id: str + map_id: str + label: str + description: str + tags: list[str] + display: dict[str, object] + scenario: Scenario + training_episodes: Mapping[str, int] + + def make_demo_agents() -> tuple[Agent, ...]: """Construct fresh agents with small, documented demonstration settings.""" @@ -129,7 +147,8 @@ def build_demo_data( timestamp = (generated_at or datetime.now(UTC)).astimezone(UTC).isoformat() return { "generatedAt": timestamp, - "verificationStatus": "DEMO · NON-CONFIRMATORY · PAIRED TAPE", + "rootSeed": root_seed, + "verificationStatus": DEMO_VERIFICATION_STATUS, "scenarioFingerprint": fingerprint(scenario.to_dict()), "scenario": _scenario_payload(scenario), "trainingEpisodes": training_counts, @@ -153,6 +172,147 @@ def write_demo_data( return payload +def build_demo_gallery( + config_path: str | Path, + *, + root_seed: int = 42, + generated_at: datetime | None = None, +) -> dict[str, object]: + """Build a versioned gallery from scenarios declared relative to one config file. + + Every case delegates to :func:`build_demo_data`, which constructs a fresh set + of agents. Learning state is therefore never carried from one gallery case to + the next. + """ + + resolved_config = Path(config_path).resolve() + raw_config: object = json.loads(resolved_config.read_text(encoding="utf-8")) + config = _expect_mapping(raw_config, "gallery config") + default_case_id = _expect_string( + _required(config, "defaultCaseId", "gallery config"), + "gallery config.defaultCaseId", + ) + raw_cases = _required(config, "cases", "gallery config") + if not isinstance(raw_cases, list): + raise TypeError("gallery config.cases must be a JSON array") + if not raw_cases: + raise ValueError("gallery config.cases must not be empty") + + training_episodes = _training_episode_config( + config.get("trainingEpisodes", DEFAULT_TRAINING_EPISODES), + "gallery config.trainingEpisodes", + ) + timestamp = generated_at or datetime.now(UTC) + validated_cases: list[_GalleryCaseSpec] = [] + case_ids: set[str] = set() + map_ids: set[str] = set() + + for index, raw_case in enumerate(raw_cases): + path = f"gallery config.cases[{index}]" + case = _expect_mapping(raw_case, path) + case_id = _expect_string(_required(case, "caseId", path), f"{path}.caseId") + map_id = _expect_string(_required(case, "mapId", path), f"{path}.mapId") + if case_id in case_ids: + raise ValueError(f"gallery case IDs must be unique: {case_id!r}") + if map_id in map_ids: + raise ValueError(f"gallery map IDs must be unique: {map_id!r}") + case_ids.add(case_id) + map_ids.add(map_id) + + label = _expect_string(_required(case, "label", path), f"{path}.label") + description = _expect_string( + _required(case, "description", path), f"{path}.description" + ) + tags = _expect_string_list(_required(case, "tags", path), f"{path}.tags") + display = _expect_mapping(_required(case, "display", path), f"{path}.display") + topology = _expect_string( + _required(display, "topology", f"{path}.display"), + f"{path}.display.topology", + ) + difficulty = _expect_string( + _required(display, "difficulty", f"{path}.display"), + f"{path}.display.difficulty", + ) + display_payload = dict(display) + display_payload.update(topology=topology, difficulty=difficulty) + + scenario_reference = _expect_string( + _required(case, "scenario", path), f"{path}.scenario" + ) + scenario_path = Path(scenario_reference) + if not scenario_path.is_absolute(): + scenario_path = resolved_config.parent / scenario_path + scenario = Scenario.from_json(scenario_path.read_text(encoding="utf-8")) + case_training_episodes = _training_episode_config( + case.get("trainingEpisodes", training_episodes), + f"{path}.trainingEpisodes", + ) + + validated_cases.append( + _GalleryCaseSpec( + case_id=case_id, + map_id=map_id, + label=label, + description=description, + tags=tags, + display=display_payload, + scenario=scenario, + training_episodes=case_training_episodes, + ) + ) + + if default_case_id not in case_ids: + raise ValueError( + "gallery config.defaultCaseId must match one configured case ID: " + f"{default_case_id!r}" + ) + + cases: list[dict[str, object]] = [] + for case_spec in validated_cases: + demo = build_demo_data( + case_spec.scenario, + root_seed=root_seed, + training_episodes=case_spec.training_episodes, + generated_at=timestamp, + ) + cases.append( + { + "caseId": case_spec.case_id, + "mapId": case_spec.map_id, + "label": case_spec.label, + "description": case_spec.description, + "tags": case_spec.tags, + "display": case_spec.display, + "scenarioFingerprint": demo["scenarioFingerprint"], + "scenario": demo["scenario"], + "trainingEpisodes": demo["trainingEpisodes"], + "agents": demo["agents"], + } + ) + + return { + "schemaVersion": DEMO_GALLERY_SCHEMA_VERSION, + "generatedAt": timestamp.astimezone(UTC).isoformat(), + "rootSeed": root_seed, + "verificationStatus": DEMO_VERIFICATION_STATUS, + "defaultCaseId": default_case_id, + "cases": cases, + } + + +def write_demo_gallery( + path: Path, + config_path: str | Path, + *, + root_seed: int = 42, +) -> dict[str, object]: + """Build and atomically write a version-two demo gallery artifact.""" + + payload = build_demo_gallery(config_path, root_seed=root_seed) + write_json_atomic(path, payload) + return payload + + def _scenario_payload(scenario: Scenario) -> dict[str, object]: return { "id": scenario.scenario_id, @@ -215,7 +375,8 @@ def _agent_payload(result: EpisodeResult) -> dict[str, object]: "completedOrders": metrics.completed_orders, "totalOrders": metrics.total_orders, "constraintViolations": metrics.constraint_violations, - "decisionTimeMs": metrics.decision_time_ms, + # Timing is deliberately disabled for deterministic, portable demo tapes. + "decisionTimeMs": None, "steps": metrics.steps, }, "planningCalls": result.diagnostics.planning_calls, @@ -239,9 +400,62 @@ def _agent_payload(result: EpisodeResult) -> dict[str, object]: } +def _required(data: Mapping[str, object], key: str, path: str) -> object: + try: + return data[key] + except KeyError as error: + raise ValueError(f"{path} is missing required field {key!r}") from error + + +def _expect_mapping(value: object, path: str) -> Mapping[str, object]: + if not isinstance(value, Mapping): + raise TypeError(f"{path} must be a JSON object") + if not all(isinstance(key, str) for key in value): + raise TypeError(f"{path} keys must be strings") + return cast(Mapping[str, object], value) + + +def _expect_string(value: object, path: str) -> str: + if not isinstance(value, str): + raise TypeError(f"{path} must be a string") + normalized = value.strip() + if not normalized: + raise ValueError(f"{path} must not be empty") + return normalized + + +def _expect_string_list(value: object, path: str) -> list[str]: + if not isinstance(value, list): + raise TypeError(f"{path} must be a JSON array") + result = [_expect_string(item, f"{path}[{index}]") for index, item in enumerate(value)] + if len(set(result)) != len(result): + raise ValueError(f"{path} must not contain duplicates") + return result + + +def _training_episode_config(value: object, path: str) -> Mapping[str, int]: + data = _expect_mapping(value, path) + unknown = sorted(set(data) - set(DEFAULT_TRAINING_EPISODES)) + if unknown: + raise ValueError(f"{path} contains unknown agents: {unknown!r}") + + counts: dict[str, int] = {} + for agent, episodes in data.items(): + if isinstance(episodes, bool) or not isinstance(episodes, int): + raise TypeError(f"{path}.{agent} must be an integer") + if episodes < 0: + raise ValueError(f"{path}.{agent} must be non-negative") + counts[agent] = episodes + return counts + + __all__ = [ "DEFAULT_TRAINING_EPISODES", + "DEMO_GALLERY_SCHEMA_VERSION", + "DEMO_VERIFICATION_STATUS", "build_demo_data", + "build_demo_gallery", "make_demo_agents", "write_demo_data", + "write_demo_gallery", ] diff --git a/tests/test_demo_gallery.py b/tests/test_demo_gallery.py new file mode 100644 index 0000000..6300ff4 --- /dev/null +++ b/tests/test_demo_gallery.py @@ -0,0 +1,204 @@ +from __future__ import annotations + +import json +from pathlib import Path + +import pytest + +from adaptive_agent_lab import cli +from adaptive_agent_lab.environment.generator import generate_scenario +from adaptive_agent_lab.reporting import demo + +ROOT = Path(__file__).resolve().parents[1] +TRAINING_EPISODES_ZERO = { + "q-learning": 0, + "dyna-q": 0, + "dqn": 0, + "hybrid": 0, +} + + +def _write_scenario(path: Path, *, seed: int, scenario_id: str) -> None: + scenario = generate_scenario( + seed, + size="tiny", + dynamics="static", + order_count=0, + horizon=4, + scenario_id=scenario_id, + ) + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(scenario.to_json(indent=2) + "\n", encoding="utf-8") + + +def test_export_gallery_writes_v2_cases_relative_to_config_with_fresh_agents( + tmp_path: Path, + monkeypatch: pytest.MonkeyPatch, + capsys: pytest.CaptureFixture[str], +) -> None: + config_directory = tmp_path / "nested" / "configs" + scenario_directory = tmp_path / "nested" / "scenarios" + first_scenario = scenario_directory / "first.json" + second_scenario = scenario_directory / "second.json" + _write_scenario(first_scenario, seed=1, scenario_id="first-scenario") + _write_scenario(second_scenario, seed=2, scenario_id="second-scenario") + + config = { + "defaultCaseId": "first", + "trainingEpisodes": TRAINING_EPISODES_ZERO, + "cases": [ + { + "caseId": "first", + "mapId": "first-map", + "label": "First map", + "description": "A tiny first map.", + "tags": ["tiny", "static"], + "display": {"topology": "Open grid", "difficulty": "Easy"}, + "scenario": "../scenarios/first.json", + }, + { + "caseId": "second", + "mapId": "second-map", + "label": "Second map", + "description": "A tiny second map.", + "tags": ["tiny", "alternate"], + "display": {"topology": "Compact grid", "difficulty": "Easy"}, + "scenario": "../scenarios/second.json", + }, + ], + } + config_path = config_directory / "gallery.json" + config_path.parent.mkdir(parents=True, exist_ok=True) + config_path.write_text(json.dumps(config), encoding="utf-8") + + constructed_agents: list[tuple[object, ...]] = [] + original_make_demo_agents = demo.make_demo_agents + + def tracked_make_demo_agents() -> tuple[object, ...]: + agents = original_make_demo_agents() + constructed_agents.append(agents) + return agents + + monkeypatch.setattr(demo, "make_demo_agents", tracked_make_demo_agents) + elsewhere = tmp_path / "elsewhere" + elsewhere.mkdir() + monkeypatch.chdir(elsewhere) + output = tmp_path / "gallery-output.json" + + assert ( + cli.main( + [ + "export-gallery", + "--config", + str(config_path), + "--output", + str(output), + "--seed", + "17", + ] + ) + == 0 + ) + + payload = json.loads(output.read_text(encoding="utf-8")) + assert payload["schemaVersion"] == 2 + assert payload["rootSeed"] == 17 + assert payload["verificationStatus"] == demo.DEMO_VERIFICATION_STATUS + assert payload["defaultCaseId"] == "first" + assert isinstance(payload["generatedAt"], str) + assert [case["caseId"] for case in payload["cases"]] == ["first", "second"] + assert [case["scenario"]["id"] for case in payload["cases"]] == [ + "first-scenario", + "second-scenario", + ] + assert all(case["display"]["topology"] for case in payload["cases"]) + assert all(case["display"]["difficulty"] for case in payload["cases"]) + assert all(len(case["agents"]) == 6 for case in payload["cases"]) + assert all(case["scenarioFingerprint"].startswith("sha256:") for case in payload["cases"]) + assert all( + set(case["trainingEpisodes"].values()) == {0} for case in payload["cases"] + ) + + assert len(constructed_agents) == 2 + assert all( + first is not second + for first, second in zip(constructed_agents[0], constructed_agents[1], strict=True) + ) + assert "gallery cases=2 | default=first | seed=17" in capsys.readouterr().out + + +def test_gallery_config_requires_display_metadata(tmp_path: Path) -> None: + config_path = tmp_path / "gallery.json" + config_path.write_text( + json.dumps( + { + "defaultCaseId": "missing-display-field", + "trainingEpisodes": {}, + "cases": [ + { + "caseId": "missing-display-field", + "mapId": "missing-display-field", + "label": "Missing metadata", + "description": "Invalid on purpose.", + "tags": [], + "display": {"topology": "Open grid"}, + "scenario": "unused.json", + } + ], + } + ), + encoding="utf-8", + ) + + with pytest.raises(ValueError, match="missing required field 'difficulty'"): + demo.build_demo_gallery(config_path) + + +def test_gallery_validates_every_case_before_training( + tmp_path: Path, monkeypatch: pytest.MonkeyPatch +) -> None: + scenario_path = tmp_path / "scenario.json" + _write_scenario(scenario_path, seed=1, scenario_id="validation-scenario") + config_path = tmp_path / "gallery.json" + config_path.write_text( + json.dumps( + { + "defaultCaseId": "not-a-case", + "trainingEpisodes": TRAINING_EPISODES_ZERO, + "cases": [ + { + "caseId": "only-case", + "mapId": "only-map", + "label": "Only map", + "description": "Valid case with an invalid gallery default.", + "tags": ["tiny"], + "display": {"topology": "Open grid", "difficulty": "Easy"}, + "scenario": "scenario.json", + } + ], + } + ), + encoding="utf-8", + ) + + def fail_if_trained(*_args: object, **_kwargs: object) -> dict[str, object]: + pytest.fail("gallery generation began before config validation finished") + + monkeypatch.setattr(demo, "build_demo_data", fail_if_trained) + with pytest.raises(ValueError, match="defaultCaseId must match"): + demo.build_demo_gallery(config_path) + + +def test_checked_in_gallery_config_declares_four_maps() -> None: + config = json.loads((ROOT / "configs/demo-gallery.json").read_text(encoding="utf-8")) + + assert config["defaultCaseId"] == "rack-maze" + assert [case["caseId"] for case in config["cases"]] == [ + "rack-maze", + "parallel-aisles", + "cross-dock", + "serpentine", + ] + assert all(case["display"]["topology"] for case in config["cases"]) + assert all(case["display"]["difficulty"] for case in config["cases"]) + assert all(not Path(case["scenario"]).is_absolute() for case in config["cases"]) diff --git a/tests/test_demo_report.py b/tests/test_demo_report.py index ff88fc1..089e67e 100644 --- a/tests/test_demo_report.py +++ b/tests/test_demo_report.py @@ -33,44 +33,64 @@ def test_demo_contains_six_real_agent_trajectories(self) -> None: self.assertIsInstance(agents, list) self.assertEqual(len(agents), 6) self.assertEqual(payload["generatedAt"], "2026-08-05T00:00:00+00:00") + self.assertEqual(payload["rootSeed"], 42) self.assertTrue(all(agent["trace"] for agent in agents)) + self.assertTrue(all(agent["metrics"]["decisionTimeMs"] is None for agent in agents)) self.assertTrue(str(payload["scenarioFingerprint"]).startswith("sha256:")) - def test_checked_in_demo_traces_replay_through_the_real_environment(self) -> None: - scenario = Scenario.from_json( - (ROOT / "scenarios/medium/maze-warehouse.json").read_text(encoding="utf-8") - ) + def test_checked_in_gallery_traces_replay_through_the_real_environment(self) -> None: + scenario_paths = { + "rack-maze": ROOT / "scenarios/medium/maze-warehouse.json", + "parallel-aisles": ROOT / "scenarios/medium/parallel-aisles.json", + "cross-dock": ROOT / "scenarios/medium/cross-dock.json", + "serpentine": ROOT / "scenarios/medium/serpentine.json", + } payload = json.loads((ROOT / "web/public/demo-data.json").read_text(encoding="utf-8")) - - self.assertEqual(payload["scenario"]["id"], scenario.scenario_id) - self.assertEqual(payload["scenarioFingerprint"], fingerprint(scenario.to_dict())) + self.assertEqual(payload["schemaVersion"], 2) + self.assertEqual(payload["rootSeed"], 42) + self.assertEqual(payload["defaultCaseId"], "rack-maze") self.assertEqual( - {agent["id"] for agent in payload["agents"]}, - {"planning", "replanning", "q-learning", "dyna-q", "dqn", "hybrid"}, + {demo_case["caseId"] for demo_case in payload["cases"]}, + set(scenario_paths), ) - for agent in payload["agents"]: - with self.subTest(agent=agent["id"]): - environment = WarehouseEnvironment(scenario) - for record in agent["trace"]: - result = environment.step(Action(record["action"])) - state = result.state - self.assertEqual(record["time"], state.time) - self.assertEqual( - record["position"], - [state.robot.position.x, state.robot.position.y], - ) - self.assertEqual(record["battery"], state.robot.battery) - self.assertAlmostEqual(record["reward"], result.reward) - self.assertAlmostEqual(record["cumulativeReward"], state.cumulative_reward) - self.assertEqual(record["carriedOrderId"], state.robot.carried_order_id) - self.assertEqual(record["deliveredOrderId"], result.info["delivered_order"]) - self.assertEqual( - record["violations"], - [violation.code.value for violation in result.violations], - ) - self.assertEqual(record["eventCount"], result.info["event_count"]) - self.assertTrue(environment.state.terminated) + for demo_case in payload["cases"]: + scenario = Scenario.from_json( + scenario_paths[demo_case["caseId"]].read_text(encoding="utf-8") + ) + self.assertEqual(demo_case["scenario"]["id"], scenario.scenario_id) + self.assertEqual(demo_case["scenarioFingerprint"], fingerprint(scenario.to_dict())) + self.assertEqual( + {agent["id"] for agent in demo_case["agents"]}, + {"planning", "replanning", "q-learning", "dyna-q", "dqn", "hybrid"}, + ) + + for agent in demo_case["agents"]: + with self.subTest(case=demo_case["caseId"], agent=agent["id"]): + environment = WarehouseEnvironment(scenario) + for record in agent["trace"]: + result = environment.step(Action(record["action"])) + state = result.state + self.assertEqual(record["time"], state.time) + self.assertEqual( + record["position"], + [state.robot.position.x, state.robot.position.y], + ) + self.assertEqual(record["battery"], state.robot.battery) + self.assertAlmostEqual(record["reward"], result.reward) + self.assertAlmostEqual( + record["cumulativeReward"], state.cumulative_reward + ) + self.assertEqual(record["carriedOrderId"], state.robot.carried_order_id) + self.assertEqual( + record["deliveredOrderId"], result.info["delivered_order"] + ) + self.assertEqual( + record["violations"], + [violation.code.value for violation in result.violations], + ) + self.assertEqual(record["eventCount"], result.info["event_count"]) + self.assertTrue(environment.state.terminated) if __name__ == "__main__": diff --git a/tests/test_gallery_scenarios.py b/tests/test_gallery_scenarios.py new file mode 100644 index 0000000..ee05542 --- /dev/null +++ b/tests/test_gallery_scenarios.py @@ -0,0 +1,201 @@ +from __future__ import annotations + +from collections import deque +from pathlib import Path + +import pytest + +from adaptive_agent_lab.agents.planning import ReplanningAgent +from adaptive_agent_lab.benchmarking.runner import run_episode +from adaptive_agent_lab.environment.contracts import Position +from adaptive_agent_lab.environment.events import EventKind +from adaptive_agent_lab.environment.scenario import Scenario + +ROOT = Path(__file__).resolve().parents[1] +SCENARIO_DIR = ROOT / "scenarios" / "medium" +REFERENCE_PATH = SCENARIO_DIR / "maze-warehouse.json" +SCENARIO_PATHS = tuple( + SCENARIO_DIR / filename + for filename in ("parallel-aisles.json", "cross-dock.json", "serpentine.json") +) + +EXPECTED_OBSTACLE_COUNTS = { + "parallel-aisles": 42, + "cross-dock": 48, + "serpentine": 48, +} + +# Each witness crosses its closure in two steps while the cell is open. Closing +# that cell must preserve connectivity but force the route around an aisle end. +DETOUR_WITNESSES = { + "parallel-aisles": ( + (Position(5, 5), Position(5, 4), Position(5, 6)), + (Position(10, 9), Position(9, 9), Position(11, 9)), + ), + "cross-dock": ( + (Position(7, 5), Position(6, 5), Position(8, 5)), + (Position(10, 10), Position(9, 10), Position(11, 10)), + ), + "serpentine": ( + (Position(5, 9), Position(5, 8), Position(5, 10)), + (Position(10, 2), Position(10, 1), Position(10, 3)), + ), +} + + +def _load(path: Path) -> tuple[str, Scenario]: + text = path.read_text(encoding="utf-8") + return text, Scenario.from_json(text) + + +def _reachable( + scenario: Scenario, + *, + start: Position | None = None, + blocked: frozenset[Position] = frozenset(), +) -> set[Position]: + reached = {start or scenario.initial_robot.position} + queue = deque(reached) + while queue: + current = queue.popleft() + for dx, dy in ((1, 0), (-1, 0), (0, 1), (0, -1)): + neighbor = current.translated(dx, dy) + if scenario.map.is_traversable(neighbor, blocked) and neighbor not in reached: + reached.add(neighbor) + queue.append(neighbor) + return reached + + +def _shortest_path_length( + scenario: Scenario, + start: Position, + goal: Position, + *, + blocked: frozenset[Position] = frozenset(), +) -> int | None: + distances = {start: 0} + queue = deque([start]) + while queue: + current = queue.popleft() + if current == goal: + return distances[current] + for dx, dy in ((1, 0), (-1, 0), (0, 1), (0, -1)): + neighbor = current.translated(dx, dy) + if scenario.map.is_traversable(neighbor, blocked) and neighbor not in distances: + distances[neighbor] = distances[current] + 1 + queue.append(neighbor) + return None + + +@pytest.mark.parametrize("scenario_path", SCENARIO_PATHS, ids=lambda path: path.stem) +def test_gallery_fixture_is_canonical_and_matches_reference_workload( + scenario_path: Path, +) -> None: + text, scenario = _load(scenario_path) + _, reference = _load(REFERENCE_PATH) + + assert text == scenario.to_json(indent=2) + "\n" + assert scenario.scenario_id == f"{scenario_path.stem}-demo" + assert (scenario.map.width, scenario.map.height) == (16, 12) + assert scenario.horizon == reference.horizon == 160 + assert scenario.battery_capacity == reference.battery_capacity == 96 + assert scenario.initial_robot == reference.initial_robot + assert scenario.map.charging_stations == reference.map.charging_stations + assert len(scenario.orders) == len(reference.orders) == 4 + assert len(scenario.map.obstacles) == EXPECTED_OBSTACLE_COUNTS[scenario_path.stem] + + workload = [ + ( + order.order_id, + order.dropoff, + order.release_time, + order.deadline, + order.priority, + ) + for order in scenario.orders + ] + reference_workload = [ + ( + order.order_id, + order.dropoff, + order.release_time, + order.deadline, + order.priority, + ) + for order in reference.orders + ] + assert workload == reference_workload + assert [ + (event.time, event.kind, event.order_id) for event in scenario.events + ] == [ + (event.time, event.kind, event.order_id) for event in reference.events + ] + + for order in scenario.orders: + rack_neighbors = { + order.pickup.translated(dx, dy) + for dx, dy in ((1, 0), (-1, 0), (0, 1), (0, -1)) + } + assert rack_neighbors & scenario.map.obstacles + assert order.dropoff.x >= 13 + assert order.dropoff.y >= 10 + + +@pytest.mark.parametrize("scenario_path", SCENARIO_PATHS, ids=lambda path: path.stem) +def test_gallery_closures_are_paired_and_leave_real_detours( + scenario_path: Path, +) -> None: + _, scenario = _load(scenario_path) + witnesses = DETOUR_WITNESSES[scenario_path.stem] + expected_closures = [witness[0] for witness in witnesses] + blocked_events = [event for event in scenario.events if event.kind is EventKind.CELL_BLOCKED] + unblocked_events = [ + event for event in scenario.events if event.kind is EventKind.CELL_UNBLOCKED + ] + + assert [(event.time, event.position) for event in blocked_events] == [ + (6, expected_closures[0]), + (55, expected_closures[1]), + ] + assert [(event.time, event.position) for event in unblocked_events] == [ + (20, expected_closures[0]), + (70, expected_closures[1]), + ] + + required = set(scenario.map.charging_stations) + required.update(order.pickup for order in scenario.orders) + required.update(order.dropoff for order in scenario.orders) + assert required <= _reachable(scenario) + + for closure, start, goal in witnesses: + blocked = frozenset({closure}) + assert required <= _reachable(scenario, blocked=blocked) + direct_distance = _shortest_path_length(scenario, start, goal) + detour_distance = _shortest_path_length( + scenario, + start, + goal, + blocked=blocked, + ) + assert direct_distance == 2 + assert detour_distance is not None + assert detour_distance > direct_distance + + +@pytest.mark.parametrize("scenario_path", SCENARIO_PATHS, ids=lambda path: path.stem) +def test_replanning_completes_gallery_scenario_without_violations( + scenario_path: Path, +) -> None: + _, scenario = _load(scenario_path) + result = run_episode( + ReplanningAgent(), + scenario, + seed=42, + explore=False, + learn=False, + measure_timing=False, + ) + + assert result.metrics.completed_orders == len(scenario.orders) + assert result.metrics.weighted_on_time_completion_rate == 1.0 + assert result.metrics.constraint_violations == 0 diff --git a/tests/test_replay.py b/tests/test_replay.py index 92bf967..36c8bba 100644 --- a/tests/test_replay.py +++ b/tests/test_replay.py @@ -7,6 +7,18 @@ from adaptive_agent_lab.learning.replay import ReplayBuffer +class CopyTracked: + copies = 0 + + def __init__(self, value: int) -> None: + self.value = value + + def __deepcopy__(self, memo: dict[int, object]) -> CopyTracked: + del memo + type(self).copies += 1 + return type(self)(self.value) + + class ReplayBufferTests(unittest.TestCase): def test_capacity_keeps_newest_transitions_in_fifo_order(self) -> None: buffer: ReplayBuffer[np.ndarray, int] = ReplayBuffer(3, seed=1) @@ -15,6 +27,7 @@ def test_capacity_keeps_newest_transitions_in_fifo_order(self) -> None: self.assertEqual(len(buffer), 3) self.assertTrue(buffer.is_full) self.assertEqual([item.action for item in buffer.transitions()], [2, 3, 4]) + self.assertEqual({item.action for item in buffer.sample(3)}, {2, 3, 4}) def test_same_seed_produces_same_sampling_sequence(self) -> None: first: ReplayBuffer[tuple[int, ...], int] = ReplayBuffer(10, seed=44) @@ -55,6 +68,17 @@ def test_numeric_batch_shapes_and_dtypes(self) -> None: self.assertEqual(batch.rewards.dtype, np.float64) self.assertEqual(batch.dones.dtype, np.bool_) + def test_sampling_copies_only_selected_transitions(self) -> None: + buffer: ReplayBuffer[CopyTracked, int] = ReplayBuffer(10, seed=5) + for value in range(10): + buffer.add(CopyTracked(value), value, 0.0, CopyTracked(value + 1), False) + + CopyTracked.copies = 0 + sampled = buffer.sample(2) + + self.assertEqual(len(sampled), 2) + self.assertEqual(CopyTracked.copies, 4) + def test_invalid_sample_sizes_are_rejected(self) -> None: buffer: ReplayBuffer[int, int] = ReplayBuffer(2, seed=0) with self.assertRaises(ValueError): diff --git a/web/README.md b/web/README.md index a385f3d..44a6063 100644 --- a/web/README.md +++ b/web/README.md @@ -1,9 +1,10 @@ -# Adaptive Agent Lab interactive research artifact +# Adaptive Agent Lab replay explorer -This vinext application presents an academic-style replay of warehouse -trajectories and descriptive metrics for the six Adaptive Agent Lab treatments. It reads -`public/demo-data.json`, which is generated from real simulator transitions by -the Python package. +This vinext application presents a compact research interface for inspecting +warehouse trajectories and descriptive metrics for the six Adaptive Agent Lab +controllers. It reads the versioned four-case gallery in +`public/demo-data.json`, generated from real simulator transitions by the +Python package. The bundled data is a **non-confirmatory demonstration**. Learners receive small convenience training budgets on the displayed scenario, so the artifact is @@ -19,19 +20,21 @@ pnpm install pnpm dev ``` -From the repository root, regenerate the displayed trajectories with: +From the repository root, regenerate all four displayed cases with: ```bash -aal export-demo \ - --scenario scenarios/medium/maze-warehouse.json \ - --output web/public/demo-data.json +aal export-gallery \ + --config configs/demo-gallery.json \ + --output web/public/demo-data.json \ + --seed 42 ``` -The checked-in demo scenario is a 16×12 warehouse with six rack islands, -single-width picking aisles, receiving and outbound staging areas, three -charging positions, and two paired aisle closure/reopening events. The -closures preserve a valid detour so adaptive agents can react without changing -the underlying paired event tape. +The checked-in gallery contains four matched 16×12 warehouse layouts: rack +islands, parallel aisles, a cross-dock spine, and a serpentine corridor. Each +case has four orders, three charging positions, and two paired aisle +closure/reopening events. Every closure preserves a valid detour. +The artifact records the root seed and per-case fingerprints; decision timing +is deliberately marked as unmeasured in the portable replay. ## Checks diff --git a/web/app/globals.css b/web/app/globals.css index 12dfe66..b0f7463 100644 --- a/web/app/globals.css +++ b/web/app/globals.css @@ -1,22 +1,25 @@ @import "tailwindcss"; :root { - --page: #f6f6f3; - --paper: #ffffff; - --paper-soft: #fafaf8; - --ink: #202124; - --ink-soft: #5f6368; - --ink-faint: #7b8085; - --line: #d9dde1; - --line-dark: #bcc2c8; - --blue: #2f5d8c; - --blue-soft: #e8eff6; - --green: #2f7048; - --amber: #9a6719; - --red: #a63c3c; - --agent-color: #2f5d8c; - --serif: Georgia, "Times New Roman", Times, serif; - --sans: Inter, ui-sans-serif, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; + --canvas: #f2f3f1; + --surface: #ffffff; + --surface-muted: #f7f8f6; + --ink: #1f2328; + --ink-strong: #111418; + --muted: #667078; + --faint: #879097; + --rule: #d8dbd6; + --rule-strong: #bec4c3; + --accent: #315c86; + --accent-soft: #e9f0f6; + --green: #39745a; + --amber: #926a24; + --red: #a34040; + --agent-color: #315c86; + --reference-color: #667078; + --agent-route-color: #234f78; + --reference-route-color: #515b63; + --sans: -apple-system, BlinkMacSystemFont, "Segoe UI", Helvetica, Arial, sans-serif; --mono: "SFMono-Regular", "Cascadia Code", "Roboto Mono", Consolas, monospace; } @@ -25,17 +28,19 @@ } html { - background: var(--page); + min-width: 320px; color-scheme: light; scroll-behavior: smooth; + background: var(--canvas); } body { min-width: 320px; margin: 0; color: var(--ink); - background: var(--page); + background: var(--canvas); font-family: var(--sans); + font-size: 14px; text-rendering: optimizeLegibility; } @@ -48,7 +53,8 @@ select { button, a, select, -input { +input, +summary { -webkit-tap-highlight-color: transparent; } @@ -66,248 +72,492 @@ a:focus-visible, select:focus-visible, input:focus-visible, summary:focus-visible { - outline: 2px solid var(--blue); + outline: 2px solid var(--accent); outline-offset: 3px; } -.site-shell { +.app-shell { min-height: 100vh; } -.site-header { - width: min(1220px, calc(100% - 48px)); - min-height: 58px; - margin: 0 auto; +.app-header { + position: sticky; + z-index: 60; + top: 0; + min-height: 52px; + padding: 0 22px; display: flex; align-items: center; justify-content: space-between; gap: 24px; - border-bottom: 1px solid var(--line-dark); + border-bottom: 1px solid var(--rule-strong); + background: rgba(255, 255, 255, 0.97); +} + +.brand { + display: inline-flex; + align-items: center; + gap: 10px; } -.wordmark { - font: 600 14px/1 var(--serif); - letter-spacing: 0.01em; +.brand > span { + color: var(--ink-strong); + font-size: 13px; + font-weight: 650; + letter-spacing: -0.01em; +} + +.brand > strong { + padding-left: 10px; + border-left: 1px solid var(--rule-strong); + color: var(--muted); + font-size: 12px; + font-weight: 500; } -.site-header nav { +.header-meta { display: flex; align-items: center; - gap: 24px; - color: var(--ink-soft); + gap: 21px; + color: var(--muted); font-size: 12px; } -.site-header nav a { - padding: 8px 0; +.header-meta a { + padding: 7px 0; border-bottom: 1px solid transparent; } -.site-header nav a:hover { +.header-meta a:hover { color: var(--ink); border-color: var(--ink); } -.research-page { - width: min(1220px, calc(100% - 48px)); +.recorded-status { + display: inline-flex; + align-items: center; + gap: 7px; +} + +.recorded-status i { + width: 7px; + height: 7px; + border-radius: 50%; + background: var(--green); +} + +.workspace { + width: min(1500px, 100%); + min-height: calc(100vh - 52px); margin: 0 auto; + display: grid; + grid-template-columns: 258px minmax(0, 1fr); } -.paper-header { - padding: 68px 0 54px; - border-bottom: 1px solid var(--line-dark); +.scenario-rail { + position: sticky; + top: 52px; + height: calc(100vh - 52px); + padding: 24px 14px 20px; + overflow-y: auto; + border-right: 1px solid var(--rule-strong); + background: #eceeeb; } -.paper-label, -.section-number { +.rail-heading { + padding: 0 8px 15px; + display: flex; + align-items: flex-end; + justify-content: space-between; + gap: 20px; +} + +.eyebrow { margin: 0; - color: var(--blue); - font: 600 11px/1.4 var(--sans); - letter-spacing: 0.08em; + color: var(--faint); + font-size: 10px; + font-weight: 650; + letter-spacing: 0.085em; text-transform: uppercase; } -.paper-header h1 { - max-width: 920px; - margin: 15px 0 21px; - color: #17181a; - font: 500 clamp(36px, 4.6vw, 54px)/1.08 var(--serif); - letter-spacing: -0.032em; +.rail-heading h2, +.control-title h2, +.section-heading h2 { + margin: 0; + color: var(--ink-strong); + font-size: 17px; + line-height: 1.2; + font-weight: 650; + letter-spacing: -0.018em; +} + +.rail-heading > span { + min-width: 25px; + height: 22px; + padding: 0 7px; + display: grid; + place-items: center; + border: 1px solid var(--rule-strong); + border-radius: 12px; + color: var(--muted); + background: var(--surface); + font: 600 10px/1 var(--mono); } -.abstract-copy { - max-width: 830px; - margin: 0; - color: #3f4347; - font: 400 17px/1.7 var(--serif); +.scenario-list { + display: flex; + flex-direction: column; + border-top: 1px solid var(--rule-strong); } -.artifact-note { - max-width: 940px; - margin-top: 30px; - padding: 15px 17px; - border-left: 3px solid var(--amber); - background: #f6f1e8; - color: #51452f; - font-size: 13px; - line-height: 1.6; +.scenario-option { + width: 100%; + padding: 13px 8px; + display: grid; + grid-template-columns: 76px minmax(0, 1fr); + align-items: center; + gap: 11px; + border: 0; + border-bottom: 1px solid var(--rule); + background: transparent; + text-align: left; + cursor: pointer; } -.artifact-note strong { - color: #3d3425; +.scenario-option:hover { + background: rgba(255, 255, 255, 0.62); } -.study-metadata { - max-width: 940px; - margin: 34px 0 0; +.scenario-option.is-selected { + box-shadow: inset 3px 0 var(--accent); + background: var(--surface); +} + +.map-thumbnail { + width: 76px; + aspect-ratio: 4 / 3; + padding: 4px; display: grid; - grid-template-columns: repeat(5, 1fr); - border-top: 1px solid var(--line); - border-bottom: 1px solid var(--line); + gap: 1px; + overflow: hidden; + border: 1px solid #b7bcba; + background: #fafbf9; } -.study-metadata > div { - padding: 13px 14px; - border-right: 1px solid var(--line); +.map-thumbnail i { + min-width: 0; + min-height: 0; + display: block; + background: #f2f3f0; } -.study-metadata > div:first-child { - padding-left: 0; +.map-thumbnail i.is-obstacle { + background: #4d555b; } -.study-metadata > div:last-child { - border-right: 0; +.map-thumbnail i.is-charger { + background: #82aa91; } -.study-metadata dt, -.state-table dt, -.method-workload dt { - color: var(--ink-faint); - font-size: 11px; +.scenario-copy { + min-width: 0; + display: flex; + flex-direction: column; +} + +.scenario-copy small { + color: var(--faint); + font: 600 10px/1.2 var(--mono); + letter-spacing: 0.04em; + text-transform: uppercase; +} + +.scenario-copy strong { + margin-top: 4px; + overflow: hidden; + color: var(--ink-strong); + font-size: 12px; + line-height: 1.25; + font-weight: 650; + text-overflow: ellipsis; + white-space: nowrap; +} + +.scenario-copy > span { + margin-top: 3px; + overflow: hidden; + color: var(--muted); + font-size: 10px; line-height: 1.3; + text-overflow: ellipsis; + white-space: nowrap; } -.study-metadata dd { - margin: 5px 0 0; - font: 600 13px/1.3 var(--mono); +.scenario-copy > i { + margin-top: 7px; + display: flex; + align-items: center; + gap: 4px; + color: var(--faint); + font: normal 10px/1.2 var(--mono); } -.viewer-section, -.results-section { - padding: 58px 0 64px; - border-bottom: 1px solid var(--line-dark); +.scenario-copy > i b { + font-weight: 400; } -.section-heading { - margin-bottom: 24px; +.rail-note { + margin: 17px 8px 0; + color: var(--muted); + font-size: 11px; + line-height: 1.55; +} + +.experiment-view { + min-width: 0; + padding: 0 30px; + background: var(--canvas); +} + +.experiment-heading { + padding: 27px 0 22px; + border-bottom: 1px solid var(--rule-strong); +} + +.case-path { display: flex; + align-items: center; + gap: 9px; + color: var(--faint); + font: 600 10px/1.2 var(--mono); + letter-spacing: 0.05em; + text-transform: uppercase; +} + +.case-path i { + color: var(--rule-strong); + font-style: normal; +} + +.heading-row { + margin-top: 13px; + display: grid; + grid-template-columns: minmax(300px, 1fr) minmax(460px, 0.95fr); align-items: end; - justify-content: space-between; - gap: 32px; + gap: 38px; } -.section-heading h2, -.interpretation-section h2 { - margin: 7px 0 0; - font: 500 30px/1.16 var(--serif); - letter-spacing: -0.018em; +.heading-row h1 { + margin: 0; + color: var(--ink-strong); + font-size: clamp(26px, 2.6vw, 34px); + line-height: 1.08; + font-weight: 650; + letter-spacing: -0.035em; } -.section-heading > div > p:last-child { +.heading-row > div > p { + max-width: 670px; margin: 9px 0 0; - color: var(--ink-soft); + color: var(--muted); font-size: 13px; - line-height: 1.5; + line-height: 1.55; +} + +.case-facts { + margin: 0; + display: grid; + grid-template-columns: repeat(5, 1fr); + border-top: 1px solid var(--rule); + border-bottom: 1px solid var(--rule); +} + +.case-facts > div { + min-width: 0; + padding: 9px 10px; + border-right: 1px solid var(--rule); +} + +.case-facts > div:last-child { + border-right: 0; +} + +.case-facts dt { + overflow: hidden; + color: var(--faint); + font-size: 10px; + line-height: 1.2; + text-overflow: ellipsis; + white-space: nowrap; +} + +.case-facts dd { + margin: 5px 0 0; + color: var(--ink); + font: 600 12px/1.2 var(--mono); +} + +.scope-line { + max-width: 1040px; + margin-top: 16px; + padding: 8px 10px; + display: flex; + align-items: baseline; + gap: 10px; + border-left: 2px solid var(--accent); + color: var(--muted); + background: #e9edef; + font-size: 11px; + line-height: 1.45; +} + +.scope-line strong { + flex: 0 0 auto; + color: var(--ink); + font-size: 10px; +} + +.replay-section { + padding: 25px 0 31px; + border-bottom: 1px solid var(--rule-strong); } -.algorithm-select { - min-width: 250px; +.control-bar { + margin-bottom: 12px; + display: grid; + grid-template-columns: minmax(200px, 1fr) 220px 220px auto; + align-items: end; + gap: 12px; +} + +.field-control { + min-width: 0; display: flex; flex-direction: column; - gap: 7px; + gap: 6px; } -.algorithm-select span { - color: var(--ink-soft); - font-size: 11px; +.field-control > span, +.toggle-control > span { + color: var(--muted); + font-size: 10px; } -.algorithm-select select { +.field-control select { width: 100%; - height: 40px; - padding: 0 36px 0 11px; - border: 1px solid var(--line-dark); - border-radius: 2px; + height: 36px; + padding: 0 31px 0 10px; + border: 1px solid var(--rule-strong); + border-radius: 3px; color: var(--ink); - background: var(--paper); + background: var(--surface); + font-size: 12px; +} + +.toggle-control { + height: 36px; + padding: 0 10px; + display: inline-flex; + align-items: center; + gap: 8px; + border: 1px solid var(--rule); + border-radius: 3px; + background: var(--surface-muted); + cursor: pointer; +} + +.toggle-control input { + width: 14px; + height: 14px; + margin: 0; + accent-color: var(--accent); } -.operations-grid { +.analysis-grid { display: grid; - grid-template-columns: minmax(0, 2.2fr) minmax(280px, 0.8fr); - align-items: start; - gap: 18px; + grid-template-columns: minmax(0, 1fr) 292px; + align-items: stretch; + gap: 12px; } -.trajectory-figure, -.state-panel { +.map-panel, +.inspector-panel { margin: 0; - border: 1px solid var(--line-dark); - background: var(--paper); + border: 1px solid var(--rule-strong); + background: var(--surface); } -.figure-heading { - min-height: 67px; - padding: 13px 16px; +.panel-heading { + min-height: 55px; + padding: 10px 13px; display: flex; align-items: center; justify-content: space-between; - gap: 20px; - border-bottom: 1px solid var(--line); + gap: 18px; + border-bottom: 1px solid var(--rule); +} + +.panel-heading > div:first-child { + display: flex; + flex-direction: column; + gap: 4px; } -.figure-heading span { - color: var(--ink-faint); +.panel-heading > div:first-child span { + color: var(--faint); font-size: 10px; - letter-spacing: 0.06em; - text-transform: uppercase; } -.figure-heading h3 { - margin: 4px 0 0; - font: 500 18px/1.2 var(--serif); +.panel-heading > div:first-child strong { + font-size: 12px; + font-weight: 650; } -.figure-heading > p { - margin: 0; - color: var(--ink-soft); - font: 12px/1.2 var(--mono); +.time-readout { + display: flex; + align-items: baseline; + gap: 5px; + color: var(--muted); + font-family: var(--mono); } -.figure-heading > p strong { - color: var(--ink); - font-size: 15px; +.time-readout span { + font-size: 10px; + text-transform: uppercase; +} + +.time-readout strong { + color: var(--ink-strong); + font-size: 18px; +} + +.time-readout i { + font-size: 10px; + font-style: normal; } -.map-wrap { - padding: 17px; - background: var(--paper-soft); +.map-stage { + padding: 16px; + overflow-x: auto; + background: #e8eae7; } .warehouse-map { position: relative; width: 100%; min-height: 0; - padding: 12px; - border: 1px solid #aeb6bc; - background: #fdfdfb; + padding: 10px; + overflow: hidden; + border: 1px solid #aeb4b1; + background: #fbfcfa; isolation: isolate; } .map-grid, .route-layer { display: grid; - gap: 2px; + gap: 1px; } .map-grid { @@ -320,61 +570,30 @@ summary:focus-visible { min-width: 0; min-height: 0; overflow: visible; - border: 1px solid #eaebe8; - background: #fafaf7; + background: #f3f4f1; + box-shadow: inset 0 0 0 1px #eceeea; } -.map-cell.receiving-zone { - background: #f1f6f8; -} - -.map-cell.dispatch-zone { - background: #faf2f1; -} - -.map-cell.packing-zone { - background: #faf7ef; -} - -.map-cell.charging-zone { - background: #eff7f1; +.map-cell:nth-child(2n) { + background: #f7f8f5; } .map-cell.obstacle { z-index: 2; overflow: hidden; - border-color: #acb0b1; - background: repeating-linear-gradient(0deg, #d0d2d0 0 5px, #c3c6c4 5px 7px); - box-shadow: inset 2px 0 #b3b7b5, inset -2px 0 #dfe1df; -} - -.rack-label, -.zone-tag { - position: absolute; - z-index: 3; - font-family: var(--mono); - font-style: normal; - font-weight: 600; -} - -.rack-label { - right: 3px; - bottom: 3px; - color: #5e6463; - font-size: 7px; + background: #4b535a; + box-shadow: inset 0 0 0 1px #40474d; } -.zone-tag { - top: 3px; - left: 3px; - color: #83898b; - font-size: 7px; +.map-cell.blocked:not(.obstacle) { + background: #f8eaea; + box-shadow: inset 0 0 0 1px #d89a9a; } .route-layer { position: absolute; z-index: 4; - inset: 12px; + inset: 10px; pointer-events: none; } @@ -408,65 +627,106 @@ summary:focus-visible { .route-south { left: calc(50% - 1px); width: 2px; - height: calc(50% + 3px); + height: calc(50% + 2px); +} + +.route-north { + top: -1px; } -.route-north { top: -2px; } -.route-south { top: 50%; } +.route-south { + top: 50%; +} .route-east, .route-west { top: calc(50% - 1px); - width: calc(50% + 3px); + width: calc(50% + 2px); height: 2px; } -.route-east { left: 50%; } -.route-west { left: -2px; } +.route-east { + left: 50%; +} + +.route-west { + left: -1px; +} -.route-projected .route-node { - width: 3px; - height: 3px; - background: #9db2c8; +.route-primary { + z-index: 7; } -.route-projected .route-branch { - background: repeating-linear-gradient(90deg, #9db2c8 0 3px, transparent 3px 6px); +.route-primary .route-node, +.route-primary .route-branch { + background: var(--agent-route-color); } -.route-projected .route-north, -.route-projected .route-south { - background: repeating-linear-gradient(0deg, #9db2c8 0 3px, transparent 3px 6px); +.route-reference { + z-index: 6; } -.route-travelled { - z-index: 5; +.route-reference .route-node { + width: 6px; + height: 6px; + border: 1px solid var(--reference-route-color); + background: var(--surface); } -.route-travelled .route-node, -.route-travelled .route-branch { - background: var(--agent-color); +.route-reference .route-east, +.route-reference .route-west { + top: calc(50% - 2px); + height: 4px; + background: repeating-linear-gradient(90deg, var(--reference-route-color) 0 4px, transparent 4px 7px); +} + +.route-reference .route-north, +.route-reference .route-south { + left: calc(50% - 2px); + width: 4px; + background: repeating-linear-gradient(0deg, var(--reference-route-color) 0 4px, transparent 4px 7px); +} + +.route-recorded { + z-index: 3; + opacity: 0.48; +} + +.route-recorded .route-node { + width: 2px; + height: 2px; + background: #9aa4ab; +} + +.route-recorded .route-east, +.route-recorded .route-west { + background: repeating-linear-gradient(90deg, #879198 0 1px, transparent 1px 4px); +} + +.route-recorded .route-north, +.route-recorded .route-south { + background: repeating-linear-gradient(0deg, #879198 0 1px, transparent 1px 4px); } -.charger, +.charger-marker, .order-marker, .closure-marker, .robot-marker { position: absolute; - z-index: 8; + z-index: 9; display: grid; place-items: center; font: 700 7px/1 var(--mono); } -.charger { +.charger-marker { right: 3px; bottom: 3px; width: 14px; height: 14px; - border: 1px solid #5c876b; + border: 1px solid var(--green); border-radius: 50%; - color: #3f694f; + color: var(--green); background: #f7fbf8; } @@ -474,20 +734,19 @@ summary:focus-visible { width: 18px; height: 18px; border: 1px solid currentColor; - background: var(--paper); - transition: opacity 160ms ease; + background: var(--surface); } .pickup-marker { top: 3px; left: 3px; - color: #376b64; + color: #276c67; } .dropoff-marker { right: 3px; bottom: 3px; - color: #91651f; + color: #916426; } .order-marker.is-queued { @@ -498,56 +757,73 @@ summary:focus-visible { border-width: 2px; } -.order-marker.is-picked { - opacity: 0.18; - filter: grayscale(0.8); -} - .order-marker.is-delivered { border-color: var(--green); color: var(--green); - background: #eff7f1; - opacity: 0.42; + background: #eef6f1; + opacity: 0.45; } .order-marker.is-expired { border-color: var(--red); border-style: dashed; color: var(--red); - background: #fbf0ef; - opacity: 0.72; + background: #faeeee; } .closure-marker { inset: 2px; + z-index: 10; border: 1px solid var(--red); color: var(--red); - background: rgba(255, 255, 255, 0.84); - font-size: 15px; + background: rgba(255, 255, 255, 0.88); + font-size: 14px; } .robot-marker { - z-index: 11; + z-index: 12; top: 50%; left: 50%; - width: min(68%, 30px); + width: min(68%, 29px); aspect-ratio: 1; - border: 2px solid #ffffff; + border: 2px solid var(--surface); border-radius: 50%; - color: #ffffff; - background: var(--agent-color); + color: var(--surface); transform: translate(-50%, -50%); - box-shadow: 0 0 0 1px #555b60; + box-shadow: 0 0 0 1px #4e555a; +} + +.primary-robot { + background: var(--agent-color); +} + +.primary-robot.is-overlap { + transform: translate(-62%, -62%); +} + +.reference-robot { + z-index: 11; + width: min(52%, 23px); + border-radius: 3px; + background: var(--reference-color); +} + +.reference-robot.is-overlap { + transform: translate(-20%, -20%); +} + +.robot-marker.is-trace-complete { + opacity: 0.52; } .map-legend { - padding: 10px 16px; + padding: 9px 13px; display: flex; flex-wrap: wrap; - gap: 9px 19px; - border-top: 1px solid var(--line); - border-bottom: 1px solid var(--line); - color: var(--ink-soft); + gap: 8px 17px; + border-top: 1px solid var(--rule); + border-bottom: 1px solid var(--rule); + color: var(--muted); font-size: 10px; } @@ -558,338 +834,491 @@ summary:focus-visible { } .map-legend i { - width: 10px; - height: 10px; + width: 11px; + height: 8px; display: inline-block; } -.legend-robot { border: 1px solid #555b60; border-radius: 50%; background: var(--agent-color); } -.legend-route { height: 2px !important; background: var(--agent-color); } -.legend-projected { height: 2px !important; background: repeating-linear-gradient(90deg, #9db2c8 0 2px, transparent 2px 4px); } -.legend-pickup { border: 1px solid #376b64; } -.legend-dropoff { border: 1px solid #91651f; } -.legend-blocked { border: 1px solid var(--red); background: #fff5f4; } -.legend-delivered { border: 1px solid var(--green); background: #eff7f1; opacity: 0.55; } -.legend-expired { border: 1px dashed var(--red); background: #fbf0ef; } +.legend-primary { + height: 2px !important; + background: var(--agent-route-color); +} -.replay-controls { - padding: 14px 16px 12px; - display: grid; - grid-template-columns: auto minmax(0, 1fr) auto; - align-items: end; - gap: 14px; +.legend-reference { + height: 4px !important; + background: repeating-linear-gradient(90deg, var(--reference-route-color) 0 4px, transparent 4px 7px); } -.play-control, -.reset-control { - min-width: 62px; - height: 34px; - padding: 0 12px; - border: 1px solid var(--line-dark); - border-radius: 2px; - background: var(--paper); - cursor: pointer; +.legend-recorded { + height: 1px !important; + background: repeating-linear-gradient(90deg, #879198 0 1px, transparent 1px 4px); } -.play-control { - border-color: var(--blue); - color: var(--blue); +.legend-order { + border: 1px solid #537773; + background: var(--surface); } -.play-control:hover, -.reset-control:hover { - background: var(--blue-soft); +.legend-pickup { + border-color: #276c67; } -.timeline-control { - min-width: 0; +.legend-dropoff { + border-color: #916426; } -.timeline-labels { - margin-bottom: 7px; - display: flex; - justify-content: space-between; - gap: 14px; - color: var(--ink-faint); - font: 10px/1.2 var(--mono); +.legend-inactive { + border: 1px solid var(--faint); + background: var(--surface); + opacity: 0.38; } -.timeline-labels span:nth-child(2) { - font-family: var(--sans); +.legend-charger { + border: 1px solid var(--green); + border-radius: 50%; } -.range-wrap { - position: relative; - height: 34px; +.legend-closure { + border: 1px solid var(--red); + background: #faeeee; } -input[type="range"] { +.replay-controls { + padding: 11px 13px 9px; + display: grid; + grid-template-columns: auto minmax(160px, 1fr) auto; + align-items: center; + gap: 15px; +} + +.transport-controls, +.speed-control { + display: inline-flex; + align-items: center; +} + +.transport-controls button, +.speed-control button { + height: 30px; + padding: 0 9px; + border: 1px solid var(--rule-strong); + background: var(--surface); + font-size: 10px; + cursor: pointer; +} + +.transport-controls button + button, +.speed-control button + button { + margin-left: -1px; +} + +.transport-controls button:disabled { + color: var(--faint); + background: var(--surface-muted); + cursor: not-allowed; +} + +.transport-controls .play-button { + min-width: 58px; + border-color: var(--accent); + color: var(--accent); + font-weight: 650; +} + +.transport-controls button:hover:not(:disabled), +.speed-control button:hover, +.speed-control button.is-active { + z-index: 1; + border-color: var(--accent); + color: var(--accent); + background: var(--accent-soft); +} + +.timeline-control { + min-width: 0; +} + +.timeline-control > input[type="range"] { position: relative; z-index: 3; - top: 8px; width: 100%; - height: 17px; + height: 18px; margin: 0; appearance: none; background: transparent; cursor: pointer; } -input[type="range"]::-webkit-slider-runnable-track { +.timeline-control > input[type="range"]::-webkit-slider-runnable-track { height: 3px; border-radius: 0; - background: linear-gradient(90deg, var(--agent-color) var(--timeline-progress), #d5d9dc var(--timeline-progress)); + background: linear-gradient(90deg, var(--agent-color) var(--timeline-progress), #d2d6d4 var(--timeline-progress)); } -input[type="range"]::-moz-range-track { +.timeline-control > input[type="range"]::-moz-range-track { height: 3px; border-radius: 0; - background: linear-gradient(90deg, var(--agent-color) var(--timeline-progress), #d5d9dc var(--timeline-progress)); + background: linear-gradient(90deg, var(--agent-color) var(--timeline-progress), #d2d6d4 var(--timeline-progress)); } -input[type="range"]::-webkit-slider-thumb { +.timeline-control > input[type="range"]::-webkit-slider-thumb { width: 13px; height: 13px; margin-top: -5px; appearance: none; - border: 2px solid var(--paper); + border: 2px solid var(--surface); border-radius: 50%; background: var(--agent-color); - box-shadow: 0 0 0 1px #6a7074; + box-shadow: 0 0 0 1px #5c6468; } -input[type="range"]::-moz-range-thumb { +.timeline-control > input[type="range"]::-moz-range-thumb { width: 11px; height: 11px; - border: 2px solid var(--paper); + border: 2px solid var(--surface); border-radius: 50%; background: var(--agent-color); - box-shadow: 0 0 0 1px #6a7074; + box-shadow: 0 0 0 1px #5c6468; } .timeline-events { - position: absolute; + position: relative; z-index: 4; - top: 13px; - right: 0; - left: 0; - height: 7px; + height: 1px; pointer-events: none; } .timeline-event { position: absolute; - top: calc((var(--event-lane) * 18px) - 9px); - width: 7px; - height: 7px; + top: calc((var(--event-lane) * 15px) - 31px); + width: 24px; + height: 24px; padding: 0; - border: 1px solid var(--paper); - border-radius: 50%; - background: var(--amber); + border: 0; + background: transparent; transform: translateX(-50%); pointer-events: auto; cursor: pointer; } -.timeline-event::before { +.timeline-event::after { position: absolute; - inset: -7px; + top: 50%; + left: 50%; + width: 6px; + height: 6px; + border: 1px solid var(--surface); + border-radius: 50%; + background: var(--amber); + transform: translate(-50%, -50%); content: ""; } -.timeline-event.event-cell_blocked { background: var(--red); } -.timeline-event.event-cell_unblocked { border-color: var(--red); background: var(--paper); } -.timeline-event.event-order_arrival { background: var(--blue); } +.timeline-event.event-cell_blocked::after { + background: var(--red); +} -.trajectory-figure figcaption { - padding: 0 16px 15px; - color: var(--ink-soft); - font: 12px/1.55 var(--serif); +.timeline-event.event-cell_unblocked::after { + border-color: var(--red); + background: var(--surface); } -.state-panel { - padding: 19px; +.timeline-event.event-order_arrival::after { + background: var(--accent); } -.method-summary { - position: relative; - padding: 0 0 19px 16px; - border-bottom: 1px solid var(--line); +.timeline-scale { + margin-top: 1px; + display: flex; + justify-content: space-between; + color: var(--faint); + font: 10px/1 var(--mono); } -.method-swatch { - position: absolute; - top: 1px; - bottom: 20px; - left: 0; - width: 3px; +.speed-control button { + min-width: 37px; +} + +.map-panel figcaption { + padding: 0 13px 11px; + color: var(--muted); + font-size: 11px; + line-height: 1.5; +} + +.inspector-panel { + padding: 14px; + border-right: 0; + border-left: 0; + background: transparent; +} + +.inspector-heading { + display: flex; + align-items: flex-start; + justify-content: space-between; + gap: 10px; +} + +.inspector-heading > div { + min-width: 0; + display: flex; + align-items: center; + gap: 8px; +} + +.agent-dot, +.reference-dot { + width: 8px; + height: 8px; + flex: 0 0 auto; + border-radius: 50%; background: var(--agent-color); } -.method-summary p { - margin: 0 0 5px; - color: var(--ink-faint); +.inspector-heading small, +.comparison-state small { + color: var(--faint); font-size: 10px; + line-height: 1.2; text-transform: uppercase; - letter-spacing: 0.06em; + letter-spacing: 0.05em; } -.method-summary h3 { - margin: 0; - font: 500 22px/1.2 var(--serif); +.inspector-heading h3 { + margin: 2px 0 0; + overflow: hidden; + color: var(--ink-strong); + font-size: 14px; + font-weight: 650; + text-overflow: ellipsis; + white-space: nowrap; } -.method-summary > span:last-child { - display: block; - margin-top: 9px; - color: var(--ink-soft); +.state-badge { + padding: 4px 6px; + flex: 0 0 auto; + border: 1px solid var(--rule); + border-radius: 2px; + color: var(--muted); + background: var(--surface-muted); + font-size: 10px; +} + +.state-badge.is-ok { + border-color: #a9c4b3; + color: var(--green); + background: #f0f6f2; +} + +.state-badge.is-warning { + border-color: #d3bd91; + color: #765418; + background: #faf5e9; +} + +.state-badge.is-alert { + border-color: #d6a3a3; + color: var(--red); + background: #faeeee; +} + +.state-badge.is-complete { + border-color: var(--rule-strong); + color: var(--muted); + background: #eceeeb; +} + +.agent-description { + margin: 11px 0 0; + color: var(--muted); font-size: 12px; - line-height: 1.55; + line-height: 1.5; } -.state-panel > h4, -.method-workload h4 { - margin: 18px 0 8px; - font: 600 12px/1.3 var(--sans); +.state-block, +.battery-block, +.order-block, +.comparison-state, +.comparison-empty { + margin-top: 16px; + padding-top: 14px; + border-top: 1px solid var(--rule); } -.state-table, -.method-workload dl { +.state-block h4, +.battery-block h4, +.order-block h4 { margin: 0; - border-top: 1px solid var(--line); + color: var(--ink); + font-size: 11px; + font-weight: 650; +} + +.state-table { + margin: 8px 0 0; } .state-table > div, -.method-workload dl > div { - min-height: 36px; - padding: 8px 0; +.comparison-state dl > div { + min-height: 29px; + padding: 5px 0; display: grid; - grid-template-columns: 1fr 1.25fr; + grid-template-columns: 1fr 1.2fr; align-items: baseline; - gap: 12px; - border-bottom: 1px solid var(--line); + gap: 8px; + border-bottom: 1px solid #e6e8e4; +} + +.state-table dt, +.comparison-state dt { + color: var(--faint); + font-size: 10px; +} + +.comparison-state dt small { + display: block; + margin-top: 3px; + color: var(--faint); + font-size: 9px; + font-weight: 400; + letter-spacing: 0; + text-transform: none; } .state-table dd, -.method-workload dd { +.comparison-state dd { margin: 0; overflow-wrap: anywhere; - color: #313438; - font: 500 11px/1.4 var(--mono); + color: var(--ink); + font: 500 11px/1.35 var(--mono); text-align: right; } -.state-status { - margin: 14px 0 0; - padding: 8px 9px; - border-left: 3px solid var(--line-dark); - color: var(--ink-soft); - background: var(--paper-soft); - font-size: 11px; +.battery-block > div:first-child { + display: flex; + align-items: baseline; + justify-content: space-between; + gap: 10px; } -.state-status.is-warning { - border-color: var(--amber); - color: #6e4c16; - background: #faf6ec; +.battery-block > div:first-child span { + color: var(--muted); + font: 10px/1 var(--mono); } -.state-status.is-alert { - border-color: var(--red); - color: #7e3030; - background: #fbf0ef; +.battery-track { + height: 5px; + margin-top: 8px; + overflow: hidden; + background: #dfe3df; } -.method-workload { - margin-top: 20px; +.battery-track i { + height: 100%; + display: block; + background: var(--agent-color); } -.event-annotations { - margin-top: 18px; - border: 1px solid var(--line-dark); - background: var(--paper); +.order-counts { + margin-top: 9px; + display: grid; + grid-template-columns: repeat(4, 1fr); + gap: 4px; } -.event-annotations summary { - padding: 13px 15px; - color: #34373a; - font: 600 12px/1.3 var(--sans); - cursor: pointer; +.order-counts > div { + min-width: 0; + padding: 7px 4px; + display: flex; + align-items: center; + flex-direction: column; + border: 1px solid var(--rule); + background: var(--surface-muted); } -.event-table-wrap, -.comparison-shell { - overflow-x: auto; +.order-counts strong { + font: 650 12px/1 var(--mono); } -.event-annotations table, -.comparison-table { - width: 100%; - border-collapse: collapse; - font-size: 12px; +.order-counts span { + margin-top: 4px; + overflow: hidden; + color: var(--faint); + font-size: 10px; + text-overflow: ellipsis; } -.event-annotations table { - min-width: 620px; - border-top: 1px solid var(--line); +.comparison-state header { + display: flex; + align-items: center; + gap: 8px; } -.event-annotations th, -.event-annotations td { - height: 39px; - padding: 0 15px; - border-bottom: 1px solid var(--line); - text-align: left; +.reference-dot { + border-radius: 2px; + background: var(--reference-color); } -.event-annotations th { - color: var(--ink-faint); - background: var(--paper-soft); - font-size: 10px; - font-weight: 600; +.comparison-state header > div { + display: flex; + flex-direction: column; + gap: 2px; } -.event-annotations tbody tr:last-child td { - border-bottom: 0; +.comparison-state header strong { + font-size: 12px; } -.event-annotations tr.is-observed td:first-child { - color: var(--blue); - font-weight: 600; +.comparison-state dl { + margin: 8px 0 0; } -.event-annotations td:last-child, -.event-annotations th:last-child { - width: 72px; - text-align: right; +.comparison-empty { + margin-bottom: 0; + color: var(--faint); + font-size: 11px; + line-height: 1.5; } -.event-annotations td button { - padding: 4px 8px; - border: 1px solid var(--line-dark); - border-radius: 2px; - color: var(--blue); - background: var(--paper); - font-size: 10px; - cursor: pointer; +.results-section { + padding: 29px 0 32px; + border-bottom: 1px solid var(--rule-strong); } -.event-annotations td button:disabled { - color: var(--ink-faint); - cursor: not-allowed; - opacity: 0.45; +.section-heading { + margin-bottom: 13px; + display: flex; + align-items: end; + justify-content: space-between; + gap: 28px; +} + +.section-heading > p { + margin: 0; + color: var(--muted); + font-size: 11px; } -.comparison-shell { - border: 1px solid var(--line-dark); - background: var(--paper); +.results-table-wrap, +.details-table-wrap { + overflow-x: auto; + border: 1px solid var(--rule-strong); + background: var(--surface); } -.comparison-table { - min-width: 760px; +.results-table, +.details-table-wrap table { + width: 100%; + border-collapse: collapse; } -.comparison-table caption { +.results-table { + min-width: 820px; + font-size: 12px; +} + +.results-table caption { position: absolute; width: 1px; height: 1px; @@ -900,148 +1329,253 @@ input[type="range"]::-moz-range-thumb { border: 0; } -.comparison-table th, -.comparison-table td { - height: 50px; - padding: 0 16px; - border-bottom: 1px solid var(--line); +.results-table th, +.results-table td { + height: 48px; + padding: 0 13px; + border-bottom: 1px solid var(--rule); text-align: right; } -.comparison-table thead th { - height: 39px; - color: var(--ink-faint); - background: var(--paper-soft); +.results-table thead th { + height: 34px; + color: var(--faint); + background: var(--surface-muted); font-size: 10px; - font-weight: 600; - letter-spacing: 0.03em; + font-weight: 650; + letter-spacing: 0.02em; } -.comparison-table th:first-child { - width: 34%; +.results-table th:first-child { + width: 31%; text-align: left; } -.comparison-table tbody tr:last-child th, -.comparison-table tbody tr:last-child td { +.results-table tbody tr:last-child th, +.results-table tbody tr:last-child td { border-bottom: 0; } -.comparison-table tbody tr.is-selected { - background: #f2f6fa; +.results-table tbody tr.is-primary { + background: color-mix(in srgb, var(--agent-color) 8%, white); box-shadow: inset 3px 0 var(--agent-color); } -.comparison-table th button { - width: 100%; - padding: 0; +.results-table tbody tr.is-reference:not(.is-primary) { + background: #f2f3f2; + box-shadow: inset 3px 0 var(--reference-color); +} + +.results-table tbody th { + position: relative; + display: table-cell; +} + +.results-table tbody th > i { + width: 7px; + height: 24px; + display: inline-block; + margin-right: 9px; + vertical-align: middle; +} + +.results-table tbody th > span { + display: inline-flex; + vertical-align: middle; + flex-direction: column; + gap: 3px; +} + +.results-table tbody th strong { + color: var(--ink); + font-size: 12px; + font-weight: 650; +} + +.results-table tbody th small { + color: var(--faint); + font-size: 10px; + font-weight: 400; +} + +.results-table tbody th > b { + min-width: 17px; + height: 17px; + margin-left: 9px; + display: inline-grid; + place-items: center; + border: 1px solid var(--rule-strong); + border-radius: 50%; + color: var(--muted); + background: var(--surface); + font: 650 10px/1 var(--mono); +} + +.metric-value { + display: inline-block; + min-width: 29px; +} + +.metric-track { + width: 42px; + height: 3px; + margin-left: 7px; + display: inline-block; + overflow: hidden; + vertical-align: middle; + background: #dfe2df; +} + +.metric-track i { + height: 100%; + display: block; + background: var(--agent-color); +} + +.supporting-section { + padding: 25px 0 27px; + display: grid; + grid-template-columns: repeat(2, minmax(0, 1fr)); + gap: 12px; + border-bottom: 1px solid var(--rule-strong); +} + +.supporting-section details { + align-self: start; + border-top: 1px solid var(--rule-strong); + border-bottom: 1px solid var(--rule-strong); + background: transparent; +} + +.supporting-section summary { + min-height: 54px; + padding: 10px 13px; display: flex; align-items: center; - gap: 10px; - border: 0; - background: transparent; - text-align: left; + justify-content: space-between; + gap: 20px; + list-style: none; cursor: pointer; } -.comparison-table th button > i { - width: 8px; - height: 26px; - flex: 0 0 auto; +.supporting-section summary::-webkit-details-marker { + display: none; } -.comparison-table th button span { - min-width: 0; +.supporting-section summary > span { display: flex; flex-direction: column; - gap: 3px; + gap: 4px; } -.comparison-table th button strong { - color: #282b2e; +.supporting-section summary strong { font-size: 12px; - font-weight: 600; } -.comparison-table th button small { - color: var(--ink-faint); +.supporting-section summary small { + color: var(--faint); font-size: 10px; - font-weight: 400; } -.table-note { - max-width: 860px; - margin: 14px 0 0; - color: var(--ink-soft); - font: 12px/1.6 var(--serif); +.supporting-section summary > i { + color: var(--muted); + font: normal 16px/1 var(--mono); } -.interpretation-section { - padding: 56px 0 62px; - display: grid; - grid-template-columns: 280px minmax(0, 1fr); - gap: 48px; - border-bottom: 1px solid var(--line-dark); +.supporting-section details[open] summary { + border-bottom: 1px solid var(--rule); +} + +.supporting-section details[open] summary > i { + transform: rotate(45deg); +} + +.details-table-wrap { + border: 0; } -.interpretation-grid { +.details-table-wrap table { + min-width: 520px; + font-size: 11px; +} + +.details-table-wrap th, +.details-table-wrap td { + height: 33px; + padding: 0 12px; + border-bottom: 1px solid var(--rule); + text-align: left; +} + +.details-table-wrap th { + color: var(--faint); + background: var(--surface-muted); + font-size: 10px; +} + +.details-table-wrap tr:last-child td { + border-bottom: 0; +} + +.provenance-grid { + padding: 14px; display: grid; - grid-template-columns: repeat(3, 1fr); - gap: 0; - border-top: 1px solid var(--line); + grid-template-columns: minmax(160px, 0.8fr) minmax(220px, 1.2fr); + gap: 20px; } -.interpretation-grid article { - padding: 18px; - border-right: 1px solid var(--line); +.provenance-grid > p { + margin: 0; + color: var(--muted); + font-size: 11px; + line-height: 1.6; } -.interpretation-grid article:first-child { - padding-left: 0; +.provenance-grid dl { + margin: 0; } -.interpretation-grid article:last-child { - border-right: 0; +.provenance-grid dl > div { + padding: 4px 0; + display: grid; + grid-template-columns: 72px minmax(0, 1fr); + gap: 8px; + border-bottom: 1px solid var(--rule); } -.interpretation-grid h3 { - margin: 0 0 8px; - font: 600 13px/1.3 var(--sans); +.provenance-grid dt { + color: var(--faint); + font-size: 10px; } -.interpretation-grid p { +.provenance-grid dd { margin: 0; - color: var(--ink-soft); - font: 13px/1.65 var(--serif); + overflow-wrap: anywhere; + color: var(--ink); + font: 10px/1.4 var(--mono); } -.paper-footer { - padding: 27px 0 50px; +.provenance-grid code { + font: inherit; +} + +.app-footer { + min-height: 70px; + padding: 17px 0 30px; display: flex; align-items: flex-start; justify-content: space-between; - gap: 32px; - color: var(--ink-faint); + gap: 24px; + color: var(--faint); font-size: 10px; } -.paper-footer > div { - min-width: 0; - display: flex; - flex-direction: column; - gap: 6px; -} - -.paper-footer code { - max-width: 680px; - overflow-wrap: anywhere; - color: var(--ink-soft); - font: 10px/1.5 var(--mono); +.app-footer a { + color: var(--muted); } -.paper-footer p { - margin: 0; - text-align: right; +.app-footer a:hover { + color: var(--ink); } .loading-shell { @@ -1053,147 +1587,173 @@ input[type="range"]::-moz-range-thumb { text-align: center; } -.loading-shell h1 { - margin: 9px 0 0; - font: 500 34px/1.15 var(--serif); +.loading-mark { + color: var(--ink-strong); + font-size: 13px; + font-weight: 650; + letter-spacing: -0.01em; +} + +.loading-shell > p:not(.eyebrow) { + margin: 13px 0 0; + color: var(--muted); + font-size: 12px; } -.loading-shell > p:not(.paper-label) { - max-width: 520px; - margin: 14px auto 0; - color: var(--ink-soft); +.loading-shell h1 { + margin: 7px 0 0; + font-size: 25px; + letter-spacing: -0.025em; } .loading-shell > a { - margin-top: 20px; + margin-top: 18px; padding-bottom: 2px; - border-bottom: 1px solid var(--blue); - color: var(--blue); - font-size: 13px; + border-bottom: 1px solid var(--accent); + color: var(--accent); + font-size: 12px; } -.loading-rule { - width: 40px; - height: 2px; - margin-bottom: 24px; - background: var(--blue); - animation: loading 1.2s infinite ease-in-out; -} +@media (max-width: 1220px) { + .workspace { + display: block; + } -@keyframes loading { - 50% { width: 78px; opacity: 0.35; } -} + .scenario-rail { + position: static; + height: auto; + padding: 16px 22px; + overflow: hidden; + border-right: 0; + border-bottom: 1px solid var(--rule-strong); + } -@media (max-width: 980px) { - .operations-grid { - grid-template-columns: 1fr; + .rail-heading { + padding: 0 0 10px; } - .interpretation-section { - grid-template-columns: 1fr; - gap: 24px; + .scenario-list { + padding-bottom: 3px; + overflow-x: auto; + flex-direction: row; + gap: 8px; + border-top: 0; + scroll-padding-inline: 1px; + scroll-snap-type: x proximity; + scrollbar-color: var(--rule-strong) transparent; } -} -@media (max-width: 720px) { - .site-header, - .research-page { - width: min(100% - 28px, 1220px); + .scenario-option { + min-width: 235px; + padding: 9px; + border: 1px solid var(--rule); + background: rgba(255, 255, 255, 0.35); + scroll-snap-align: start; } - .site-header nav { - gap: 14px; + .scenario-option.is-selected { + box-shadow: inset 0 -3px var(--accent); } - .site-header nav a:not(:last-child) { + .rail-note { display: none; } +} - .paper-header { - padding: 45px 0 40px; +@media (max-width: 1040px) { + .heading-row { + grid-template-columns: 1fr; + align-items: start; + gap: 20px; } - .paper-header h1 { - font-size: clamp(36px, 11vw, 50px); + .analysis-grid { + grid-template-columns: 1fr; } - .abstract-copy { - font-size: 16px; + .inspector-panel { + display: grid; + grid-template-columns: repeat(3, minmax(0, 1fr)); + align-items: start; + gap: 16px; } - .study-metadata { - grid-template-columns: repeat(2, 1fr); + .inspector-heading, + .agent-description { + grid-column: 1 / -1; } - .study-metadata > div, - .study-metadata > div:first-child { - padding-left: 10px; - border-right: 1px solid var(--line); - border-bottom: 1px solid var(--line); + .state-block, + .battery-block, + .order-block, + .comparison-state, + .comparison-empty { + margin-top: 0; + padding: 0 0 0 14px; + border-top: 0; + border-left: 1px solid var(--rule); } - .study-metadata > div:nth-child(2n) { - border-right: 0; + .state-block { + padding-left: 0; + border-left: 0; } - .study-metadata > div:last-child { - border-bottom: 0; + .battery-block, + .order-block { + align-self: stretch; } - .viewer-section, - .results-section { - padding: 43px 0 48px; + .comparison-state, + .comparison-empty { + grid-column: 1 / -1; + padding: 13px 0 0; + border-top: 1px solid var(--rule); + border-left: 0; } +} - .section-heading { - align-items: stretch; - flex-direction: column; - gap: 20px; +@media (max-width: 820px) { + .app-header { + padding: 0 14px; } - .algorithm-select { - min-width: 0; + .recorded-status, + .header-meta a:first-of-type { + display: none; } - .map-wrap { - padding: 8px; + .scenario-rail { + padding-inline: 14px; } - .warehouse-map { - padding: 8px; + .experiment-view { + padding: 0 14px; } - .route-layer { - inset: 8px; + .case-facts { + grid-template-columns: repeat(3, 1fr); } - .map-grid, - .route-layer { - gap: 1px; + .case-facts > div:nth-child(3) { + border-right: 0; } - .rack-label, - .zone-tag, - .charger { - display: none; + .case-facts > div:nth-child(n + 4) { + border-top: 1px solid var(--rule); } - .order-marker { - width: 14px; - height: 14px; - font-size: 6px; + .control-bar { + grid-template-columns: repeat(2, minmax(0, 1fr)); } - .robot-marker { - width: 70%; - min-width: 0; - border-width: 1px; - font-size: 6px; + .control-title { + grid-column: 1 / -1; } - .closure-marker { - inset: 1px; - font-size: 11px; + .toggle-control { + grid-column: 1 / -1; + justify-content: center; } .replay-controls { @@ -1205,35 +1765,96 @@ input[type="range"]::-moz-range-thumb { grid-row: 1; } - .state-panel { - display: block; + .supporting-section { + grid-template-columns: 1fr; + } +} + +@media (max-width: 600px) { + .brand > strong { + display: none; } - .method-workload { - margin-top: 20px; + .experiment-heading { + padding-top: 22px; } - .interpretation-grid { - grid-template-columns: 1fr; + .heading-row h1 { + font-size: 27px; + } + + .case-facts { + grid-template-columns: repeat(2, 1fr); } - .interpretation-grid article, - .interpretation-grid article:first-child { - padding: 14px 0; + .case-facts > div:nth-child(2n) { border-right: 0; - border-bottom: 1px solid var(--line); } - .interpretation-grid article:last-child { - border-bottom: 0; + .case-facts > div:nth-child(3) { + border-right: 1px solid var(--rule); + } + + .case-facts > div:nth-child(n + 3) { + border-top: 1px solid var(--rule); + } + + .scope-line { + align-items: flex-start; + flex-direction: column; + gap: 3px; + } + + .control-bar { + grid-template-columns: 1fr; + } + + .control-title, + .toggle-control { + grid-column: auto; + } + + .map-stage { + padding: 8px; + } + + .warehouse-map { + min-width: 500px; + padding: 10px; + } + + .route-layer { + inset: 10px; + } + + .map-legend { + gap: 7px 11px; } - .paper-footer { + .inspector-panel { + display: block; + } + + .state-block, + .battery-block, + .order-block, + .comparison-state, + .comparison-empty { + margin-top: 14px; + padding: 13px 0 0; + border-top: 1px solid var(--rule); + border-left: 0; + } + + .section-heading, + .app-footer { + align-items: flex-start; flex-direction: column; + gap: 8px; } - .paper-footer p { - text-align: left; + .provenance-grid { + grid-template-columns: 1fr; } } @@ -1242,8 +1863,6 @@ input[type="range"]::-moz-range-thumb { *::before, *::after { scroll-behavior: auto !important; - animation-duration: 0.01ms !important; - animation-iteration-count: 1 !important; transition-duration: 0.01ms !important; } } @@ -1251,8 +1870,10 @@ input[type="range"]::-moz-range-thumb { @media (forced-colors: active) { .route-node, .route-branch, - .method-swatch, - .comparison-table th button > i { + .agent-dot, + .reference-dot, + .metric-track i, + .battery-track i { background: CanvasText !important; } } diff --git a/web/app/layout.tsx b/web/app/layout.tsx index 1e1cdc2..d28063a 100644 --- a/web/app/layout.tsx +++ b/web/app/layout.tsx @@ -3,6 +3,8 @@ import { headers } from "next/headers"; import "./globals.css"; const pagesBasePath = process.env.GITHUB_PAGES_BASE_PATH ?? "/"; +const sitesOrigin = + process.env.SITE_ORIGIN ?? "https://adaptive-agent-lab.my20000806.chatgpt.site"; export async function generateMetadata(): Promise { const requestHeaders = await headers(); @@ -10,13 +12,14 @@ export async function generateMetadata(): Promise { const forwardedProtocol = requestHeaders.get("x-forwarded-proto"); const protocol = forwardedProtocol ?? (host?.startsWith("localhost") || host?.startsWith("127.0.0.1") ? "http" : "https"); - const origin = host ? `${protocol}://${host}` : "https://revincxt.github.io"; + const fallbackOrigin = pagesBasePath === "/" ? sitesOrigin : "https://revincxt.github.io"; + const origin = host ? `${protocol}://${host}` : fallbackOrigin; return { metadataBase: new URL(pagesBasePath, `${origin}/`), - title: "Adaptive Agent Lab — Planning and Learning in Dynamic Warehouses", + title: "Adaptive Agent Lab — Multi-map Replay Explorer", description: - "An interactive, non-confirmatory research artifact for comparing planning and learning controllers in a dynamic warehouse maze.", + "A multi-map replay explorer for inspecting planning, reinforcement-learning, replanning, and hybrid controllers in structured warehouse scenarios.", applicationName: "Adaptive Agent Lab", keywords: [ "reinforcement learning", @@ -33,23 +36,23 @@ export async function generateMetadata(): Promise { type: "website", url: "./", siteName: "Adaptive Agent Lab", - title: "Adaptive Agent Lab — Planning × Learning", + title: "Adaptive Agent Lab — Multi-map Replay Explorer", description: - "A paired-episode research replay for six controllers in a dynamic warehouse maze.", + "Inspect six controllers across four structured warehouse maps with synchronized trajectories, state, and recorded disruptions.", images: [ { url: "./og.png", width: 1536, height: 1024, - alt: "Academic graphical abstract showing a robot trajectory through a warehouse maze", + alt: "Four warehouse map topologies with recorded controller trajectories", }, ], }, twitter: { card: "summary_large_image", - title: "Adaptive Agent Lab — Planning × Learning", + title: "Adaptive Agent Lab — Multi-map Replay Explorer", description: - "A paired-episode research replay for planning and reinforcement learning.", + "Four structured warehouse maps, six controllers, and synchronized recorded replays.", images: ["./og.png"], }, }; @@ -57,7 +60,7 @@ export async function generateMetadata(): Promise { export const viewport: Viewport = { colorScheme: "light", - themeColor: "#f6f6f3", + themeColor: "#f2f3f1", }; export default function RootLayout({ children }: Readonly<{ children: React.ReactNode }>) { diff --git a/web/app/page.tsx b/web/app/page.tsx index 69813ba..05e785b 100644 --- a/web/app/page.tsx +++ b/web/app/page.tsx @@ -36,7 +36,7 @@ type Metrics = { completedOrders: number; totalOrders: number; constraintViolations: number; - decisionTimeMs: number; + decisionTimeMs: number | null; steps: number; }; type AgentResult = { @@ -51,27 +51,45 @@ type AgentResult = { learningUpdates: number; trace: TraceStep[]; }; -type DemoData = { - generatedAt: string; - verificationStatus: string; - scenarioFingerprint: string; - scenario: { - id: string; - width: number; - height: number; - horizon: number; - batteryCapacity: number; - initialRobot: Point; - obstacles: Point[]; - chargingStations: Point[]; - orders: Order[]; - events: Event[]; +type ScenarioData = { + id: string; + width: number; + height: number; + horizon: number; + batteryCapacity: number; + initialRobot: Point; + obstacles: Point[]; + chargingStations: Point[]; + orders: Order[]; + events: Event[]; +}; +type DemoCase = { + caseId: string; + mapId: string; + label: string; + description: string; + tags: string[]; + display?: { + topology?: string; + difficulty?: string; + [key: string]: unknown; }; + scenarioFingerprint: string; + scenario: ScenarioData; + trainingEpisodes: Record; agents: AgentResult[]; }; - +type DemoBundle = { + schemaVersion: number; + generatedAt: string; + rootSeed: number; + verificationStatus: string; + defaultCaseId: string; + cases: DemoCase[]; +}; type RouteDirection = "north" | "east" | "south" | "west"; -type OrderState = "queued" | "ready" | "picked" | "carried" | "delivered" | "expired"; +type RoutePhase = "primary" | "recorded" | "reference"; +type OrderState = "queued" | "ready" | "carried" | "delivered" | "expired"; const actionLabels: Record = { up: "Move north", @@ -90,16 +108,55 @@ const eventLabels: Record = { cell_unblocked: "Aisle reopened", }; +const playbackRates = [0.5, 1, 2] as const; +const routeDisplayColors: Record = { + planning: "#4f5656", + replanning: "#125a55", + "q-learning": "#765511", + "dyna-q": "#674a88", + dqn: "#275f8d", + hybrid: "#a34734", +}; const cellKey = (point: Point) => `${point.x}:${point.y}`; -const rackIslandLabels = new Map([ - ["2:2", "R1"], - ["2:7", "R2"], - ["6:2", "R3"], - ["6:7", "R4"], - ["10:2", "R5"], - ["10:7", "R6"], -]); +function formatPercent(value: number) { + return `${Math.round(value * 100)}%`; +} + +function formatNumber(value: number) { + return new Intl.NumberFormat("en", { maximumFractionDigits: 1 }).format(value); +} + +function formatSigned(value: number) { + const rounded = Number(value.toFixed(1)); + return rounded > 0 ? `+${rounded}` : `${rounded}`; +} + +function pointFromTrace(step: TraceStep): Point { + return { x: step.position[0], y: step.position[1] }; +} + +function endTime(agent: AgentResult | null) { + return agent?.trace.at(-1)?.time ?? 1; +} + +function replayEndTime( + scenario: ScenarioData, + primary: AgentResult | null, + reference: AgentResult | null, +) { + const latestEvent = Math.max(1, ...scenario.events.map((event) => event.time)); + return Math.min(scenario.horizon, Math.max(endTime(primary), endTime(reference), latestEvent)); +} + +function stepAtTime(agent: AgentResult, time: number) { + let current = agent.trace[0]; + for (const step of agent.trace) { + if (step.time > time) break; + current = step; + } + return current; +} function blockedCells(events: Event[], time: number) { const cells = new Set(); @@ -144,18 +201,6 @@ function buildRoute(points: Point[]) { return cells; } -function formatPercent(value: number) { - return `${Math.round(value * 100)}%`; -} - -function formatNumber(value: number) { - return new Intl.NumberFormat("en", { maximumFractionDigits: 1 }).format(value); -} - -function pointFromTrace(step: TraceStep): Point { - return { x: step.position[0], y: step.position[1] }; -} - function RouteLayer({ points, width, @@ -165,7 +210,7 @@ function RouteLayer({ points: Point[]; width: number; height: number; - phase: "travelled" | "projected"; + phase: RoutePhase; }) { const route = buildRoute(points); return ( @@ -195,248 +240,423 @@ function RouteLayer({ ); } +function MapThumbnail({ demoCase }: { demoCase: DemoCase }) { + const scenario = demoCase.scenario; + const obstacles = new Set(scenario.obstacles.map(cellKey)); + const chargers = new Set(scenario.chargingStations.map(cellKey)); + return ( + + ); +} + export default function Home() { - const [data, setData] = useState(null); + const [bundle, setBundle] = useState(null); const [error, setError] = useState(null); - const [agentId, setAgentId] = useState("hybrid"); - const [frame, setFrame] = useState(0); + const [caseId, setCaseId] = useState(""); + const [agentId, setAgentId] = useState(""); + const [referenceId, setReferenceId] = useState(""); + const [time, setTime] = useState(1); const [playing, setPlaying] = useState(false); + const [playbackRate, setPlaybackRate] = useState<(typeof playbackRates)[number]>(1); + const [showRecordedRemainder, setShowRecordedRemainder] = useState(false); useEffect(() => { fetch("./demo-data.json") .then((response) => { - if (!response.ok) throw new Error(`demo artifact returned ${response.status}`); - return response.json() as Promise; + if (!response.ok) throw new Error(`demo gallery returned ${response.status}`); + return response.json() as Promise; }) .then((payload) => { - setData(payload); - const preferred = payload.agents.find((candidate) => candidate.id === "hybrid"); - setAgentId(preferred?.id ?? payload.agents[0]?.id ?? ""); + if ( + payload.schemaVersion !== 2 || + !Number.isInteger(payload.rootSeed) || + !payload.cases?.length + ) { + throw new Error("demo gallery schema is not supported"); + } + const requestedCase = new URLSearchParams(window.location.search).get("case"); + const initialCase = + payload.cases.find((candidate) => candidate.caseId === requestedCase) ?? + payload.cases.find((candidate) => candidate.caseId === payload.defaultCaseId) ?? + payload.cases[0]; + const initialAgent = + initialCase.agents.find((candidate) => candidate.id === "hybrid") ?? + initialCase.agents[0]; + setBundle(payload); + setCaseId(initialCase.caseId); + setAgentId(initialAgent?.id ?? ""); }) .catch((reason: unknown) => { - setError(reason instanceof Error ? reason.message : "could not load demo artifact"); + setError(reason instanceof Error ? reason.message : "could not load demo gallery"); }); }, []); - const agent = data?.agents.find((candidate) => candidate.id === agentId) ?? null; - const maximumFrame = Math.max((agent?.trace.length ?? 1) - 1, 0); - - const selectAgent = (nextAgentId: string) => { - setAgentId(nextAgentId); - setFrame(0); - setPlaying(false); - }; + const selectedCase = + bundle?.cases.find((candidate) => candidate.caseId === caseId) ?? bundle?.cases[0] ?? null; + const agent = + selectedCase?.agents.find((candidate) => candidate.id === agentId) ?? + selectedCase?.agents[0] ?? + null; + const reference = + selectedCase?.agents.find((candidate) => candidate.id === referenceId) ?? null; + const scenario = selectedCase?.scenario ?? null; + const maximumTime = scenario ? replayEndTime(scenario, agent, reference) : 1; useEffect(() => { - if (!playing || maximumFrame === 0) return; + if (!playing || maximumTime <= 1) return; const timer = window.setInterval(() => { - setFrame((current) => { - if (current >= maximumFrame) { + setTime((current) => { + if (current >= maximumTime) { setPlaying(false); return current; } return current + 1; }); - }, 560); + }, Math.round(520 / playbackRate)); return () => window.clearInterval(timer); - }, [playing, maximumFrame]); + }, [playing, maximumTime, playbackRate]); + + const selectCase = (nextCaseId: string) => { + if (!bundle) return; + const nextCase = bundle.cases.find((candidate) => candidate.caseId === nextCaseId); + if (!nextCase) return; + const nextAgent = + nextCase.agents.find((candidate) => candidate.id === agentId) ?? + nextCase.agents.find((candidate) => candidate.id === "hybrid") ?? + nextCase.agents[0]; + const nextReference = nextCase.agents.some( + (candidate) => candidate.id === referenceId && candidate.id !== nextAgent?.id, + ) + ? referenceId + : ""; + + setCaseId(nextCase.caseId); + setAgentId(nextAgent?.id ?? ""); + setReferenceId(nextReference); + setTime(1); + setPlaying(false); + const url = new URL(window.location.href); + url.searchParams.set("case", nextCase.caseId); + window.history.replaceState(null, "", url); + }; + + const selectAgent = (nextAgentId: string) => { + if (!selectedCase || !scenario) return; + const nextAgent = selectedCase.agents.find((candidate) => candidate.id === nextAgentId); + if (!nextAgent) return; + const nextReferenceId = nextAgentId === referenceId ? agentId : referenceId; + const nextReference = + selectedCase.agents.find((candidate) => candidate.id === nextReferenceId) ?? null; + setReferenceId(nextReferenceId); + setAgentId(nextAgentId); + setTime((current) => Math.min(current, replayEndTime(scenario, nextAgent, nextReference))); + setPlaying(false); + }; + + const selectReference = (nextReferenceId: string) => { + if (!selectedCase || !scenario) return; + const nextReference = + selectedCase.agents.find((candidate) => candidate.id === nextReferenceId) ?? null; + setReferenceId(nextReferenceId); + setTime((current) => Math.min(current, replayEndTime(scenario, agent, nextReference))); + setPlaying(false); + }; - const currentStep = agent?.trace[Math.min(frame, maximumFrame)] ?? null; - const currentTime = currentStep?.time ?? 0; - const blocked = blockedCells(data?.scenario.events ?? [], currentTime); - const obstacleSet = new Set((data?.scenario.obstacles ?? []).map(cellKey)); - const chargerSet = new Set((data?.scenario.chargingStations ?? []).map(cellKey)); + const seek = (nextTime: number) => { + setPlaying(false); + setTime(Math.min(maximumTime, Math.max(1, nextTime))); + }; if (error) { return (
-

Artifact error

-

Replay unavailable

+

Adaptive Agent Lab

+

Replay gallery unavailable

{error}

Open the repository
); } - if (!data || !agent || !currentStep) { + if (!bundle || !selectedCase || !scenario || !agent || !agent.trace.length) { return (
-
); } + const currentStep = stepAtTime(agent, time); + const referenceStep = reference?.trace.length ? stepAtTime(reference, time) : null; + const agentEndTime = endTime(agent); + const referenceEndTime = endTime(reference); + const primaryAtTerminal = time >= agentEndTime; + const primaryPastEnd = time > agentEndTime; + const referenceAtTerminal = Boolean(reference && time >= referenceEndTime); + const referencePastEnd = Boolean(reference && time > referenceEndTime); + const primaryStateTime = Math.min(time, agentEndTime); const robotPosition = pointFromTrace(currentStep); - const tracePoints = [data.scenario.initialRobot, ...agent.trace.map(pointFromTrace)]; - const travelledPoints = tracePoints.slice(0, frame + 2); - const projectedPoints = tracePoints.slice(frame + 1); + const referencePosition = referenceStep ? pointFromTrace(referenceStep) : null; + const primaryTravelled = [ + scenario.initialRobot, + ...agent.trace.filter((step) => step.time <= time).map(pointFromTrace), + ]; + const primaryRemainder = [ + primaryTravelled.at(-1) ?? scenario.initialRobot, + ...agent.trace.filter((step) => step.time > time).slice(0, 20).map(pointFromTrace), + ]; + const referenceTravelled = reference + ? [ + scenario.initialRobot, + ...reference.trace.filter((step) => step.time <= time).map(pointFromTrace), + ] + : []; const deliveredOrderIds = new Set( agent.trace - .slice(0, frame + 1) + .filter((step) => step.time <= primaryStateTime) .map((step) => step.deliveredOrderId) .filter((orderId): orderId is string => orderId !== null), ); + const blocked = blockedCells(scenario.events, time); + const obstacleSet = new Set(scenario.obstacles.map(cellKey)); + const chargerSet = new Set(scenario.chargingStations.map(cellKey)); const batteryPercent = Math.max( 0, - Math.min(100, (currentStep.battery / data.scenario.batteryCapacity) * 100), + Math.min(100, (currentStep.battery / scenario.batteryCapacity) * 100), ); - const traceEndTime = agent.trace[maximumFrame]?.time ?? data.scenario.horizon; - const completedPercent = maximumFrame ? (frame / maximumFrame) * 100 : 100; - const activeStyle = { "--agent-color": agent.color } as CSSProperties; - const stateStatus = currentStep.violations.length - ? { label: "Constraint violation recorded", tone: "alert" } - : currentStep.battery <= 0 - ? { label: "Battery depleted", tone: "alert" } - : batteryPercent <= 20 - ? { label: "Low battery", tone: "warning" } - : { label: "No active constraint flag", tone: "neutral" }; + const completedPercent = maximumTime > 1 ? ((time - 1) / (maximumTime - 1)) * 100 : 100; + const obstacleDensity = + scenario.obstacles.length / Math.max(1, scenario.width * scenario.height); + const closureCount = scenario.events.filter((event) => event.kind === "cell_blocked").length; + const activeStyle = { + "--agent-color": agent.color, + "--reference-color": reference?.color ?? "#667078", + "--agent-route-color": routeDisplayColors[agent.id] ?? agent.color, + "--reference-route-color": reference + ? (routeDisplayColors[reference.id] ?? reference.color) + : "#515b63", + } as CSSProperties; const orderState = (order: Order): OrderState => { if (deliveredOrderIds.has(order.id)) return "delivered"; if (currentStep.carriedOrderId === order.id) return "carried"; - if (order.releaseTime > currentTime) return "queued"; - if (currentTime >= data.scenario.horizon) return "expired"; + if (order.releaseTime > primaryStateTime) return "queued"; + if (primaryStateTime >= scenario.horizon) return "expired"; return "ready"; }; - const orderStates = data.scenario.orders.map(orderState); + const orderStates = scenario.orders.map(orderState); const deliveredOrderCount = orderStates.filter((state) => state === "delivered").length; - const expiredOrderCount = orderStates.filter((state) => state === "expired").length; const carriedOrderCount = orderStates.filter((state) => state === "carried").length; - - const seekToTime = (time: number) => { - const nextFrame = agent.trace.findIndex((step) => step.time >= time); - setPlaying(false); - setFrame(nextFrame === -1 ? maximumFrame : nextFrame); - }; + const readyOrderCount = orderStates.filter((state) => state === "ready").length; + const queuedOrderCount = orderStates.filter((state) => state === "queued").length; + const stateStatus = primaryAtTerminal + ? { label: `Trace complete · t=${agentEndTime}`, tone: "complete" } + : currentStep.violations.length + ? { label: `${currentStep.violations.length} constraint flag(s)`, tone: "alert" } + : batteryPercent <= 20 + ? { label: "Low battery", tone: "warning" } + : { label: "State valid", tone: "ok" }; return ( -
-
- Adaptive Agent Lab - +
+
+ + Adaptive Agent Lab + Replay Explorer + +
+ Recorded demonstrations + Method + GitHub ↗ +
-
-
-

Interactive research artifact · {data.scenario.id}

-

Planning and learning in a dynamic warehouse maze

-

- This page replays six planning, reinforcement-learning, and hybrid controllers on one - shared warehouse episode. Use the viewer to inspect trajectories and state transitions - under the same order releases and temporary aisle closures. -

-
- Interpretation. {data.verificationStatus}. The values below describe a - committed demonstration tape; they are not a held-out benchmark or an algorithm ranking. -
-
-
Grid
{data.scenario.width} × {data.scenario.height}
-
Controllers
{data.agents.length}
-
Orders
{data.scenario.orders.length}
-
Event records
{data.scenario.events.length}
-
Horizon
t = {data.scenario.horizon}
-
-
- -
-
+
+ + +
+
+
+ {selectedCase.caseId} + + {selectedCase.display?.difficulty ?? "Recorded case"} +
+
+
+

{selectedCase.label}

+

{selectedCase.description}

+
+
+
Grid
{scenario.width} × {scenario.height}
+
Obstacle density
{formatPercent(obstacleDensity)}
+
Orders
{scenario.orders.length}
+
Closure pairs
{closureCount}
+
Horizon
{scenario.horizon}
+
+
+
+ Scope + {bundle.verificationStatus}. Inspect behavior within a case; do not read these tapes as a benchmark ranking. +
+
+ +
+
+
+

Trajectory and state

+
+ + + +
+ +
+
+
+
+ {selectedCase.display?.topology ?? "Warehouse topology"} + Map state at t = {time} +
+
+ episode + {String(time).padStart(3, "0")} + / {maximumTime} +
+
+ +
- -
-
-
- robot - observed path - remaining recorded path - pickup - drop-off - closure - delivered - expired -
+
+ A · {agent.label} + {reference ? B · {reference.label} : null} + {showRecordedRemainder ? future A · next ≤20 : null} + P · pickup + D · drop-off + faint · inactive order + charger + temporary closure +
-
- -
-
t = 1Episode timet = {traceEndTime}
-
+
+
+ + + +
+ +
{ - setPlaying(false); - setFrame(Number(event.target.value)); - }} + onChange={(event) => seek(Number(event.target.value))} /> -
- {data.scenario.events - .filter((event) => event.time <= traceEndTime) +
+ {scenario.events + .filter((event) => event.time <= maximumTime) .map((event, index) => (
+
t = 1t = {maximumTime}
+
+ +
+ {playbackRates.map((rate) => ( + + ))}
- -
-
- The solid path has been traversed; the lighter dashed path is the remainder of the - same committed trajectory. Event markers above the time axis are interactive. -
- - - -
+
+ Solid route: executed A trace. Dashed route: synchronized B trace. The optional + dotted line previews at most 20 future steps from A's recorded tape. +
+ + + +
+
-
- Environment events ({data.scenario.events.length}) -
- - +
+
+
+

Controller outcomes

+
+

Same map, order schedule, and event tape. Values remain descriptive.

+
+ +
+
TimeEventObject / coordinate
+ + + + + + + + + + + + - {data.scenario.events.map((event, index) => { - const detail = event.orderId ?? (event.position ? `(${event.position.x}, ${event.position.y})` : "—"); - return ( - - - - - - - ); - })} + {selectedCase.agents.map((candidate) => ( + + + + + + + + + + ))}
Controller outcomes for {selectedCase.label}
ControllerOn timeCompletionReturnStepsViolationsDecision timing
t = {event.time}{eventLabels[event.kind]}{detail}
+ + {candidate.label}{candidate.family} + {candidate.id === agent.id ? A : candidate.id === reference?.id ? B : null} + + {formatPercent(candidate.metrics.weightedOnTimeCompletionRate)} + + {formatPercent(candidate.metrics.weightedCompletionRate)}{formatNumber(candidate.metrics.totalReward)}{candidate.metrics.steps}{candidate.metrics.constraintViolations}{candidate.metrics.decisionTimeMs === null ? "Not measured" : `${formatNumber(candidate.metrics.decisionTimeMs)} ms`}
-
-
- -
-
-
-

02

-

Paired-episode results

-

Descriptive values from the single committed demonstration artifact.

-
-
- -
- - - - - - - - - - - - - - {data.agents.map((candidate) => ( - - - - - - - - - ))} - -
- Non-confirmatory six-controller comparison. Select a controller to replay its trajectory. -
ControllerOn timeCompletionReturnStepsViolations
- - {formatPercent(candidate.metrics.weightedOnTimeCompletionRate)}{formatPercent(candidate.metrics.weightedCompletionRate)}{formatNumber(candidate.metrics.totalReward)}{candidate.metrics.steps}{candidate.metrics.constraintViolations}
-
-

- No confidence intervals or held-out estimates are reported here. Confirmatory evaluation - requires frozen checkpoints, independent test scenarios, and multi-seed analysis. -

-
- -
-
-

03

-

Interpretation notes

-
-
-

Controlled input

Every method receives the same scenario, order releases, and closure schedule.

-

Replay scope

The viewer shows committed simulator traces rather than a live scheduler or physical robot.

-

Claim boundary

This artifact supports implementation inspection, not general performance claims.

-
-
- -
-
- Scenario fingerprint - {data.scenarioFingerprint} -
-

Generated {new Date(data.generatedAt).toLocaleDateString("en-GB")} · source and protocol available on GitHub

-
-
+ + +
+
+ + Environment events{scenario.events.length} recorded events + + + +
+ + + + {scenario.events.map((event, index) => { + const detail = + event.orderId ?? + (event.position ? `(${event.position.x}, ${event.position.y})` : "—"); + return ( + + + + + + + ); + })} + +
TimeEventObject / coordinateStatus
t = {event.time}{eventLabels[event.kind]}{detail}{event.time <= time ? "Observed" : "Pending"}
+
+
+ +
+ + Method and provenanceScope, generation, and fingerprint + + + +
+

+ Each controller is trained and replayed independently for this case. The browser + renders committed simulator transitions; it does not run a live policy. Decision + timing is intentionally not measured in these portable demonstration tapes. +

+
+
Case ID
{selectedCase.caseId}
+
Map ID
{selectedCase.mapId}
+
Root seed
{bundle.rootSeed}
+
Generated
{new Date(bundle.generatedAt).toLocaleDateString("en-GB")}
+
Fingerprint
{selectedCase.scenarioFingerprint}
+
+
+
+
+ + + +
); } diff --git a/web/package.json b/web/package.json index 54079d3..00f1661 100644 --- a/web/package.json +++ b/web/package.json @@ -11,7 +11,8 @@ "build": "WRANGLER_LOG_PATH=.wrangler/wrangler.log vinext build", "build:pages": "node scripts/export-github-pages.mjs", "start": "WRANGLER_LOG_PATH=.wrangler/wrangler.log vinext start", - "test": "pnpm run build && node --test tests/rendered-html.test.mjs", + "test": "pnpm run test:sites", + "test:sites": "pnpm run build && node --test tests/rendered-html.test.mjs tests/sites-build.test.mjs", "test:pages": "pnpm run build:pages && node --test tests/rendered-html.test.mjs tests/pages-export.test.mjs", "lint": "eslint . --ignore-pattern dist --ignore-pattern .next", "db:generate": "drizzle-kit generate" diff --git a/web/public/demo-data.json b/web/public/demo-data.json index d1985a2..4888e04 100644 --- a/web/public/demo-data.json +++ b/web/public/demo-data.json @@ -1,13123 +1,53419 @@ { - "agents": [ + "cases": [ { - "color": "#727776", - "description": "Plans once against the nominal map and deliberately does not repair disruptions.", - "expandedNodes": 69, - "family": "Planning", - "id": "planning", - "label": "Open-loop A*", - "learningUpdates": 0, - "metrics": { - "completedOrders": 0, - "constraintViolations": 13, - "decisionTimeMs": 0.0, - "steps": 160, - "totalOrders": 4, - "totalReward": -21.3200000000001, - "weightedCompletionRate": 0.0, - "weightedOnTimeCompletionRate": 0.0 - }, - "planningCalls": 1, - "trace": [ - { - "action": "up", - "battery": 95, - "carriedOrderId": null, - "cumulativeReward": -0.07, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 1, - 9 - ], - "reward": -0.07, - "time": 1, - "violations": [] - }, - { - "action": "up", - "battery": 94, - "carriedOrderId": null, - "cumulativeReward": -0.14, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 1, - 8 - ], - "reward": -0.07, - "time": 2, - "violations": [] - }, - { - "action": "up", - "battery": 93, - "carriedOrderId": null, - "cumulativeReward": -0.21000000000000002, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 1, - 7 - ], - "reward": -0.07, - "time": 3, - "violations": [] - }, - { - "action": "up", - "battery": 92, - "carriedOrderId": null, - "cumulativeReward": -0.28, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 1, - 6 - ], - "reward": -0.07, - "time": 4, - "violations": [] - }, - { - "action": "up", - "battery": 91, - "carriedOrderId": null, - "cumulativeReward": -0.35000000000000003, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 1, - 5 - ], - "reward": -0.07, - "time": 5, - "violations": [] - }, - { - "action": "right", - "battery": 90, - "carriedOrderId": null, - "cumulativeReward": -0.42000000000000004, - "deliveredOrderId": null, - "eventCount": 1, - "position": [ - 2, - 5 - ], - "reward": -0.07, - "time": 6, - "violations": [] - }, - { - "action": "right", - "battery": 90, - "carriedOrderId": null, - "cumulativeReward": -1.4700000000000002, - "deliveredOrderId": null, - "eventCount": 0, - "position": [ - 2, - 5 - ], - "reward": -1.05, - "time": 7, - "violations": [ - "dynamic_blockage" + "agents": [ + { + "color": "#727776", + "description": "Plans once against the nominal map and deliberately does not repair disruptions.", + "expandedNodes": 69, + "family": "Planning", + "id": "planning", + "label": "Open-loop A*", + "learningUpdates": 0, + "metrics": { + "completedOrders": 0, + "constraintViolations": 13, + "decisionTimeMs": null, + "steps": 160, + "totalOrders": 4, + "totalReward": -21.3200000000001, + "weightedCompletionRate": 0.0, + "weightedOnTimeCompletionRate": 0.0 + }, + "planningCalls": 1, + "trace": [ + { + "action": "up", + "battery": 95, + "carriedOrderId": null, + "cumulativeReward": -0.07, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 1, + 9 + ], + "reward": -0.07, + "time": 1, + "violations": [] + }, + { + "action": "up", + "battery": 94, + "carriedOrderId": null, + "cumulativeReward": -0.14, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 1, + 8 + ], + "reward": -0.07, + "time": 2, + "violations": [] + }, + { + "action": "up", + "battery": 93, + "carriedOrderId": null, + "cumulativeReward": -0.21000000000000002, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 1, + 7 + ], + "reward": -0.07, + "time": 3, + "violations": [] + }, + { + "action": "up", + "battery": 92, + "carriedOrderId": null, + "cumulativeReward": -0.28, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 1, + 6 + ], + "reward": -0.07, + "time": 4, + "violations": [] + }, + { + "action": "up", + "battery": 91, + "carriedOrderId": null, + "cumulativeReward": -0.35000000000000003, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 1, + 5 + ], + "reward": -0.07, + "time": 5, + "violations": [] + }, + { + "action": "right", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -0.42000000000000004, + "deliveredOrderId": null, + "eventCount": 1, + "position": [ + 2, + 5 + ], + "reward": -0.07, + "time": 6, + "violations": [] + }, + { + "action": "right", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -1.4700000000000002, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 7, + "violations": [ + "dynamic_blockage" + ] + }, + { + "action": "right", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -2.5200000000000005, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 8, + "violations": [ + "dynamic_blockage" + ] + }, + { + "action": "right", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -3.5700000000000003, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 9, + "violations": [ + "dynamic_blockage" + ] + }, + { + "action": "up", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -4.62, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 10, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "up", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -5.67, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 11, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "pickup", + "battery": 90, + "carriedOrderId": null, + "cumulativeReward": -6.72, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 5 + ], + "reward": -1.05, + "time": 12, + "violations": [ + "no_order_at_pickup" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -6.79, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -0.07, + "time": 13, + "violations": [] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -7.84, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 14, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -8.89, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 15, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -9.940000000000001, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 16, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -10.990000000000002, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 17, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -12.040000000000003, + "deliveredOrderId": null, + "eventCount": 1, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 18, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "down", + "battery": 89, + "carriedOrderId": null, + "cumulativeReward": -13.090000000000003, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 2, + 6 + ], + "reward": -1.05, + "time": 19, + "violations": [ + "static_obstacle" + ] + }, + { + "action": "right", + "battery": 88, + "carriedOrderId": null, + "cumulativeReward": -13.160000000000004, + "deliveredOrderId": null, + "eventCount": 1, + "position": [ + 3, + 6 + ], + "reward": -0.07, + "time": 20, + "violations": [] + }, + { + "action": "right", + "battery": 87, + "carriedOrderId": null, + "cumulativeReward": -13.230000000000004, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 4, + 6 + ], + "reward": -0.07, + "time": 21, + "violations": [] + }, + { + "action": "right", + "battery": 86, + "carriedOrderId": null, + "cumulativeReward": -13.300000000000004, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 5, + 6 + ], + "reward": -0.07, + "time": 22, + "violations": [] + }, + { + "action": "right", + "battery": 85, + "carriedOrderId": null, + "cumulativeReward": -13.370000000000005, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 6, + 6 + ], + "reward": -0.07, + "time": 23, + "violations": [] + }, + { + "action": "right", + "battery": 84, + "carriedOrderId": null, + "cumulativeReward": -13.440000000000005, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 7, + 6 + ], + "reward": -0.07, + "time": 24, + "violations": [] + }, + { + "action": "right", + "battery": 83, + "carriedOrderId": null, + "cumulativeReward": -13.510000000000005, + "deliveredOrderId": null, + "eventCount": 0, + "position": [ + 8, + 6 + ], + "reward": -0.07, + "time": 25, + "violations": [] + 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- }, - { - "x": 3, - "y": 4 - }, - { - "x": 3, - "y": 7 - }, - { - "x": 3, - "y": 8 - }, - { - "x": 3, - "y": 9 - }, - { - "x": 4, - "y": 2 - }, - { - "x": 4, - "y": 3 - }, - { - "x": 4, - "y": 4 - }, - { - "x": 4, - "y": 7 - }, - { - "x": 4, - "y": 8 - }, - { - "x": 4, - "y": 9 - }, - { - "x": 6, - "y": 2 - }, - { - "x": 6, - "y": 3 - }, - { - "x": 6, - "y": 4 - }, - { - "x": 6, - "y": 7 - }, - { - "x": 6, - "y": 8 - }, - { - "x": 6, - "y": 9 - }, - { - "x": 7, - "y": 2 - }, - { - "x": 7, - "y": 3 - }, - { - "x": 7, - "y": 4 - }, - { - "x": 7, - "y": 7 - }, - { - "x": 7, - "y": 8 - }, - { - "x": 7, - "y": 9 - }, - { - "x": 8, - "y": 2 - }, - { - "x": 8, - "y": 3 - }, - { - "x": 8, - "y": 4 - }, - { - "x": 8, - "y": 7 - }, - { - "x": 8, - "y": 8 - }, - { - "x": 8, - "y": 9 - }, - { - "x": 10, - "y": 2 - }, - { - "x": 10, - "y": 3 - }, - { - "x": 10, - "y": 4 - }, - { - "x": 10, - "y": 7 - }, - { - "x": 10, - "y": 8 - }, - { - "x": 10, - "y": 9 - }, - { - "x": 11, - "y": 2 - }, - { - "x": 11, - "y": 3 - }, - { - "x": 11, - "y": 4 - }, - { - "x": 11, - "y": 7 - }, - { - "x": 11, - "y": 8 - }, - { - "x": 11, - "y": 9 - }, - { - "x": 12, - "y": 2 - }, - { - "x": 12, - "y": 3 - }, - { - "x": 12, - "y": 4 - }, - { - "x": 12, - "y": 7 - }, - { - "x": 12, - "y": 8 - }, - { - "x": 12, - "y": 9 - } - ], - "orders": [ - { - "deadline": 48, - "dropoff": { - "x": 14, - "y": 10 - }, - "id": "order-000", - "pickup": { - "x": 5, - "y": 3 - }, - "priority": 3.0, - "releaseTime": 0 - }, - { - "deadline": 90, - "dropoff": { - "x": 15, - "y": 10 - }, - "id": "order-001", - "pickup": { - "x": 9, - "y": 8 - }, - "priority": 2.0, - "releaseTime": 18 - }, - { - "deadline": 125, - "dropoff": { - "x": 13, - "y": 10 - }, - "id": "order-002", - "pickup": { - "x": 1, - "y": 8 - }, - "priority": 2.0, - "releaseTime": 42 - }, - { - "deadline": 150, - "dropoff": { - "x": 14, - "y": 11 - }, - "id": "order-003", - "pickup": { - "x": 13, - "y": 3 - }, - "priority": 3.0, - "releaseTime": 75 + "scenarioFingerprint": "sha256:bef512331ab144c8ed423176f0a47691988705ff3cbf2d569bc1244ae67d0461", + "tags": [ + "serpentine", + "long horizon", + "bottlenecks" + ], + "trainingEpisodes": { + "dqn": 80, + "dyna-q": 80, + "hybrid": 40, + "planning": 0, + "q-learning": 120, + "replanning": 0 } - ], - "width": 16 - }, - "scenarioFingerprint": "sha256:54fa1ced0ffa22c96eff422c4f0fa3c7f7dd0a43a007a12ffb629e0c77ee2e50", - "trainingEpisodes": { - "dqn": 80, - "dyna-q": 80, - "hybrid": 40, - "planning": 0, - "q-learning": 120, - "replanning": 0 - }, + } + ], + "defaultCaseId": "rack-maze", + "generatedAt": "2026-08-05T03:32:30.763455+00:00", + "rootSeed": 42, + "schemaVersion": 2, "verificationStatus": "DEMO · NON-CONFIRMATORY · PAIRED TAPE" } diff --git a/web/public/og.png b/web/public/og.png index 617dc44..202bb5c 100644 Binary files a/web/public/og.png and b/web/public/og.png differ diff --git a/web/scripts/export-github-pages.mjs b/web/scripts/export-github-pages.mjs index c0bee15..25fa3e0 100644 --- a/web/scripts/export-github-pages.mjs +++ b/web/scripts/export-github-pages.mjs @@ -80,7 +80,7 @@ const html = renderedHtml.replace( const publicSiteUrl = new URL(pagesBase, "https://revincxt.github.io/"); assert.match( html, - /Adaptive Agent Lab — Planning and Learning in Dynamic Warehouses<\/title>/i, + /<title>Adaptive Agent Lab — Multi-map Replay Explorer<\/title>/i, ); assert.ok( html.includes(`property="og:image" content="${new URL("og.png", publicSiteUrl)}"`), @@ -138,11 +138,22 @@ const demo = JSON.parse(demoText); assert.equal( demo.verificationStatus, "DEMO · NON-CONFIRMATORY · PAIRED TAPE", - "the Pages demo must use the committed non-confirmatory paired artifact", + "the Pages gallery must use committed non-confirmatory artifacts", ); assert.ok( - Array.isArray(demo.agents) && demo.agents.length === 6, - "the Pages demo must include all six agent traces", + demo.schemaVersion === 2 && Array.isArray(demo.cases) && demo.cases.length === 4, + "the Pages gallery must include all four structured cases", +); +assert.equal(demo.rootSeed, 42, "the Pages gallery must record its reproducibility seed"); +assert.ok( + demo.cases.every((demoCase) => Array.isArray(demoCase.agents) && demoCase.agents.length === 6), + "every Pages gallery case must include all six agent traces", +); +assert.ok( + demo.cases.every((demoCase) => + demoCase.agents.every((agent) => agent.metrics.decisionTimeMs === null) + ), + "unmeasured decision timing must remain null rather than appear as zero", ); await rm(pagesDirectory, { recursive: true, force: true }); diff --git a/web/tests/pages-export.test.mjs b/web/tests/pages-export.test.mjs index b439f68..d176e99 100644 --- a/web/tests/pages-export.test.mjs +++ b/web/tests/pages-export.test.mjs @@ -11,7 +11,7 @@ test("exports a self-contained GitHub Pages artifact under the repository path", assert.match( html, - /<title>Adaptive Agent Lab — Planning and Learning in Dynamic Warehouses<\/title>/i, + /<title>Adaptive Agent Lab — Multi-map Replay Explorer<\/title>/i, ); assert.match(html, /href="\/adaptive-agent-lab\/assets\/[^" ]+\.css"/); assert.match(html, /import\("\/adaptive-agent-lab\/assets\/[^" ]+\.js"\)/); @@ -58,6 +58,13 @@ test("exports a self-contained GitHub Pages artifact under the repository path", readFile(new URL("../public/og.png", import.meta.url)), readFile(new URL("../dist/pages/og.png", import.meta.url)), ]); - assert.deepEqual(JSON.parse(pagesDemo), JSON.parse(sourceDemo)); + const exportedDemo = JSON.parse(pagesDemo); + assert.equal(exportedDemo.rootSeed, 42); + assert.ok( + exportedDemo.cases.every((demoCase) => + demoCase.agents.every((agent) => agent.metrics.decisionTimeMs === null) + ), + ); + assert.deepEqual(exportedDemo, JSON.parse(sourceDemo)); assert.deepEqual(pagesOg, sourceOg); }); diff --git a/web/tests/rendered-html.test.mjs b/web/tests/rendered-html.test.mjs index 112a010..136c143 100644 --- a/web/tests/rendered-html.test.mjs +++ b/web/tests/rendered-html.test.mjs @@ -31,15 +31,14 @@ test("server-renders the production experiment shell", async () => { const html = await response.text(); assert.match( html, - /<title>Adaptive Agent Lab — Planning and Learning in Dynamic Warehouses<\/title>/i, + /<title>Adaptive Agent Lab — Multi-map Replay Explorer<\/title>/i, ); - assert.match(html, /Planning × Learning/); - assert.match(html, /Loading experiment artifact/); + assert.match(html, /Loading experiment gallery/); assert.match(html, /aria-live="polite"/); assert.doesNotMatch(html, /Your site is taking shape|react-loading-skeleton/); }); -test("ships a six-agent paired replay artifact and research controls", async () => { +test("ships a four-map gallery with six real controller traces per case", async () => { const [artifactText, page, css] = await Promise.all([ readFile(new URL("../public/demo-data.json", import.meta.url), "utf8"), readFile(new URL("../app/page.tsx", import.meta.url), "utf8"), @@ -47,27 +46,65 @@ test("ships a six-agent paired replay artifact and research controls", async () ]); const artifact = JSON.parse(artifactText); - assert.equal( - artifact.verificationStatus, - "DEMO · NON-CONFIRMATORY · PAIRED TAPE", - ); - assert.match(artifact.scenarioFingerprint, /^sha256:[0-9a-f]{64}$/); + assert.equal(artifact.schemaVersion, 2); + assert.equal(artifact.rootSeed, 42); + assert.equal(artifact.verificationStatus, "DEMO · NON-CONFIRMATORY · PAIRED TAPE"); + assert.equal(artifact.defaultCaseId, "rack-maze"); assert.deepEqual( - artifact.agents.map((agent) => agent.id), - ["planning", "replanning", "q-learning", "dyna-q", "dqn", "hybrid"], + artifact.cases.map((demoCase) => demoCase.caseId), + ["rack-maze", "parallel-aisles", "cross-dock", "serpentine"], ); - assert.ok(artifact.agents.every((agent) => agent.trace.length > 0)); + + const expectedAgents = ["planning", "replanning", "q-learning", "dyna-q", "dqn", "hybrid"]; + const fingerprints = new Set(); + for (const demoCase of artifact.cases) { + const { scenario } = demoCase; + assert.match(demoCase.scenarioFingerprint, /^sha256:[0-9a-f]{64}$/); + fingerprints.add(demoCase.scenarioFingerprint); + assert.equal(scenario.width, 16); + assert.equal(scenario.height, 12); + assert.equal(scenario.horizon, 160); + assert.deepEqual(demoCase.agents.map((agent) => agent.id), expectedAgents); + + const inBounds = (point) => + Number.isInteger(point.x) && Number.isInteger(point.y) && + point.x >= 0 && point.x < scenario.width && point.y >= 0 && point.y < scenario.height; + const obstacleKeys = new Set(scenario.obstacles.map((point) => `${point.x}:${point.y}`)); + assert.ok(inBounds(scenario.initialRobot)); + assert.ok(!obstacleKeys.has(`${scenario.initialRobot.x}:${scenario.initialRobot.y}`)); + assert.ok(scenario.obstacles.every(inBounds)); + assert.ok(scenario.chargingStations.every(inBounds)); + assert.ok(scenario.orders.every((order) => inBounds(order.pickup) && inBounds(order.dropoff))); + assert.ok(scenario.events.every((event) => + event.time >= 0 && event.time <= scenario.horizon && (!event.position || inBounds(event.position)) + )); + + for (const agent of demoCase.agents) { + assert.ok(agent.trace.length > 0); + assert.ok(agent.trace.every((step) => inBounds({ x: step.position[0], y: step.position[1] }))); + assert.ok(agent.trace.every((step, index) => index === 0 || step.time > agent.trace[index - 1].time)); + } + } + assert.equal(fingerprints.size, 4); assert.match(page, /fetch\("\.\/demo-data\.json"\)/); - assert.match(page, /data\.verificationStatus/); - assert.match(page, /Paired-episode replay/); + assert.match(page, /payload\.schemaVersion !== 2/); + assert.match(page, /Scenario library/); assert.match(page, /Applied action/); assert.match(page, /return "expired"/); - assert.match(page, /Interpretation notes/); + assert.match(page, /Compare with/); + assert.match(page, /Show next 20 recorded steps/); + assert.match(page, /Trace complete/); + assert.match(page, /decisionTimeMs === null \? "Not measured"/); + assert.match(page, /slice\(0, 20\)/); + assert.match(page, /playbackRates/); + assert.match(page, /new URLSearchParams\(window\.location\.search\)/); + assert.match(page, /url\.searchParams\.set\("case"/); assert.match(page, /type="range"/); + assert.match(page, /selectCase/); assert.match(page, /selectAgent/); - assert.match(css, /\.operations-grid/); + assert.match(css, /\.analysis-grid/); assert.match(css, /\.warehouse-map/); - assert.match(css, /--page: #f6f6f3/); - assert.doesNotMatch(page, /Mission control|Replay online|Floor 07/); + assert.match(css, /--canvas: #f2f3f1/); + assert.doesNotMatch(page, /Mission control|Replay online|Floor 07|Figure 1|Interpretation notes/); assert.match(css, /prefers-reduced-motion:\s*reduce/); }); diff --git a/web/tests/sites-build.test.mjs b/web/tests/sites-build.test.mjs new file mode 100644 index 0000000..0a58630 --- /dev/null +++ b/web/tests/sites-build.test.mjs @@ -0,0 +1,52 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import test from "node:test"; + +test("builds a self-contained root-path Sites artifact", async () => { + const workerUrl = new URL("../dist/server/index.js", import.meta.url); + workerUrl.searchParams.set("sites-root", `${process.pid}-${Date.now()}`); + const { default: worker } = await import(workerUrl.href); + const requestOrigin = "https://adaptive-agent-lab.example"; + const canonicalOrigin = "https://adaptive-agent-lab.my20000806.chatgpt.site"; + const response = await worker.fetch( + new Request(`${requestOrigin}/`, { headers: { accept: "text/html" } }), + { + ASSETS: { + fetch: async () => new Response("Not found", { status: 404 }), + }, + }, + { + waitUntil() {}, + passThroughOnException() {}, + }, + ); + + assert.equal(response.status, 200); + const html = await response.text(); + assert.match(html, /href="\/assets\/[^" ]+\.css"/); + assert.match(html, /import\("\/assets\/[^" ]+\.js"\)/); + assert.match(html, new RegExp(`rel="canonical" href="${canonicalOrigin}/"`)); + assert.match( + html, + new RegExp(`property="og:image" content="${canonicalOrigin}/og\\.png"`), + ); + assert.doesNotMatch(html, /\/adaptive-agent-lab\/assets\//); + + const assetUrls = new Set(html.match(/\/assets\/[^"'\\\s<]+/g) ?? []); + assert.ok(assetUrls.size >= 5); + await Promise.all( + [...assetUrls].map((url) => + readFile(new URL(`../dist/client/${url.slice(1)}`, import.meta.url)), + ), + ); + + const [demoText, socialCard] = await Promise.all([ + readFile(new URL("../dist/client/demo-data.json", import.meta.url), "utf8"), + readFile(new URL("../dist/client/og.png", import.meta.url)), + ]); + const demo = JSON.parse(demoText); + assert.equal(demo.schemaVersion, 2); + assert.equal(demo.rootSeed, 42); + assert.equal(demo.cases.length, 4); + assert.ok(socialCard.byteLength > 100_000); +});