From addd96411fa716e87bfff795f40d50a5df29c04a Mon Sep 17 00:00:00 2001 From: "Documenter.jl" Date: Tue, 16 Jul 2024 01:46:36 +0000 Subject: [PATCH] build based on 22d3d43 --- stable | 2 +- v1 | 2 +- v1.1 | 1 + v1.1.0/.documenter-siteinfo.json | 1 + v1.1.0/api/index.html | 21 + v1.1.0/assets/documenter.js | 1050 +++++++++++++++++++++ v1.1.0/assets/initial_belief.png | Bin 0 -> 27852 bytes v1.1.0/assets/maze.png | Bin 0 -> 108251 bytes v1.1.0/assets/themes/documenter-dark.css | 7 + v1.1.0/assets/themes/documenter-light.css | 9 + v1.1.0/assets/themeswap.js | 84 ++ v1.1.0/assets/warner.js | 52 + v1.1.0/circular/index.html | 8 + v1.1.0/compressors/index.html | 15 + v1.1.0/index.html | 68 ++ v1.1.0/objects.inv | Bin 0 -> 912 bytes v1.1.0/samplers/index.html | 33 + v1.1.0/search_index.js | 3 + v1.1.0/siteinfo.js | 1 + versions.js | 3 +- 20 files changed, 1357 insertions(+), 3 deletions(-) create mode 120000 v1.1 create mode 100644 v1.1.0/.documenter-siteinfo.json create mode 100644 v1.1.0/api/index.html create mode 100644 v1.1.0/assets/documenter.js create mode 100644 v1.1.0/assets/initial_belief.png create mode 100644 v1.1.0/assets/maze.png create mode 100644 v1.1.0/assets/themes/documenter-dark.css create mode 100644 v1.1.0/assets/themes/documenter-light.css create mode 100644 v1.1.0/assets/themeswap.js create mode 100644 v1.1.0/assets/warner.js create mode 100644 v1.1.0/circular/index.html create mode 100644 v1.1.0/compressors/index.html create mode 100644 v1.1.0/index.html create mode 100644 v1.1.0/objects.inv create mode 100644 v1.1.0/samplers/index.html create mode 100644 v1.1.0/search_index.js create mode 100644 v1.1.0/siteinfo.js diff --git a/stable b/stable index 60453e6..992977a 120000 --- a/stable +++ b/stable @@ -1 +1 @@ -v1.0.0 \ No newline at end of file +v1.1.0 \ No newline at end of file diff --git a/v1 b/v1 index 60453e6..992977a 120000 --- a/v1 +++ b/v1 @@ -1 +1 @@ -v1.0.0 \ No newline at end of file +v1.1.0 \ No newline at end of file diff --git a/v1.1 b/v1.1 new file mode 120000 index 0000000..992977a --- /dev/null +++ b/v1.1 @@ -0,0 +1 @@ +v1.1.0 \ No newline at end of file diff --git a/v1.1.0/.documenter-siteinfo.json b/v1.1.0/.documenter-siteinfo.json new file mode 100644 index 0000000..f41038b --- /dev/null +++ b/v1.1.0/.documenter-siteinfo.json @@ -0,0 +1 @@ +{"documenter":{"julia_version":"1.10.4","generation_timestamp":"2024-07-16T01:46:33","documenter_version":"1.3.0"}} \ No newline at end of file diff --git a/v1.1.0/api/index.html b/v1.1.0/api/index.html new file mode 100644 index 0000000..288ccc1 --- /dev/null +++ b/v1.1.0/api/index.html @@ -0,0 +1,21 @@ + +API Documentation · CompressedBeliefMDPs
GitHub

API Documentation

Contents

Index

Types/Functors

CompressedBeliefMDPs.CompressedBeliefMDP — Type
CompressedBeliefMDP{B, A}

The CompressedBeliefMDP struct is a generalization of the compressed belief-state MDP presented in Exponential Family PCA for Belief Compression in POMDPs.

Type Parameters

  • B: The type of compressed belief states.
  • A: The type of actions.

Fields

  • bmdp::GenerativeBeliefMDP: The generative belief-state MDP.
  • compressor::Compressor: The compressor used to compress belief states.
  • ϕ::Bijection: A bijection representing the mapping from uncompressed belief states to compressed belief states. See notes.

Constructors

CompressedBeliefMDP(pomdp::POMDP, updater::Updater, compressor::Compressor)

Constructs a CompressedBeliefMDP using the specified POMDP, updater, and compressor.

Example Usage

pomdp = TigerPOMDP()
+updater = DiscreteUpdater(pomdp)
+compressor = PCACompressor(1)
+mdp = CompressedBeliefMDP(pomdp, updater, compressor)

For continuous POMDPs, see ParticleFilters.jl.

Notes

  • While compressions aren't usually injective, we cache beliefs and their compressions on a first-come, first-served basis, so we can effectively use a bijection without loss of generality.
source
CompressedBeliefMDPs.CompressedBeliefPolicy — Type
CompressedBeliefPolicy

Maps a base policy for the compressed belief-state MDP to a policy for the true POMDP.

Fields

  • m::CompressedBeliefMDP: The compressed belief-state MDP.
  • base_policy::Policy: The base policy used for decision-making in the compressed belief-state MDP.

Constructors

CompressedBeliefPolicy(m::CompressedBeliefMDP, base_policy::Policy)

Constructs a CompressedBeliefPolicy using the specified compressed belief-state MDP and base policy.

Example Usage

policy = solve(solver, pomdp)
+s = initialstate(pomdp)
+a = action(policy, s) # returns the approximately optimal action for state s
+v = value(policy, s)  # returns the approximately optimal value for state s
source
CompressedBeliefMDPs.CompressedBeliefSolver — Type
CompressedBeliefSolver

The CompressedBeliefSolver struct represents a solver for compressed belief-state MDPs. It combines a compressed belief-state MDP with a base solver to approximate the value function.

Fields

  • m::CompressedBeliefMDP: The compressed belief-state MDP.
  • base_solver::Solver: The base solver used to solve the compressed belief-state MDP.

Constructors

CompressedBeliefSolver(pomdp::POMDP, base_solver::Solver; updater::Updater=DiscreteUpdater(pomdp), sampler::Sampler=BeliefExpansionSampler(pomdp), compressor::Compressor=PCACompressor(1))
+CompressedBeliefSolver(pomdp::POMDP; updater::Updater=DiscreteUpdater(pomdp), sampler::Sampler=BeliefExpansionSampler(pomdp), compressor::Compressor=PCACompressor(1), interp::Union{Nothing, LocalFunctionApproximator}=nothing, k::Int=1, verbose::Bool=false, max_iterations::Int=1000, n_generative_samples::Int=10, belres::Float64=1e-3)

Constructs a CompressedBeliefSolver using the specified POMDP, base solver, updater, sampler, and compressor. Alternatively, you can omit the base solver in which case a LocalApproximationValueIterationSolver(https://github.com/JuliaPOMDP/LocalApproximationValueIteration.jl) will be created instead. For example, different base solvers are needed if the POMDP state and action space are continuous.

Example Usage

julia> pomdp = TigerPOMDP();
+julia> solver = CompressedBeliefSolver(pomdp; verbose=true, max_iterations=10);
+julia> solve(solver, pomdp);
+[Iteration 1   ] residual:       8.51 | iteration runtime:    635.870 ms, (     0.636 s total)
+[Iteration 2   ] residual:       3.63 | iteration runtime:      0.504 ms, (     0.636 s total)
+[Iteration 3   ] residual:       10.1 | iteration runtime:      0.445 ms, (     0.637 s total)
+[Iteration 4   ] residual:       15.2 | iteration runtime:      0.494 ms, (     0.637 s total)
+[Iteration 5   ] residual:       6.72 | iteration runtime:      0.432 ms, (     0.638 s total)
+[Iteration 6   ] residual:       7.38 | iteration runtime:      0.508 ms, (     0.638 s total)
+[Iteration 7   ] residual:       6.03 | iteration runtime:      0.495 ms, (     0.639 s total)
+[Iteration 8   ] residual:       5.73 | iteration runtime:      0.585 ms, (     0.639 s total)
+[Iteration 9   ] residual:       4.02 | iteration runtime:      0.463 ms, (      0.64 s total)
+[Iteration 10  ] residual:       7.28 | iteration runtime:      0.576 ms, (      0.64 s total)
source

Functions

diff --git a/v1.1.0/assets/documenter.js b/v1.1.0/assets/documenter.js new file mode 100644 index 0000000..c6562b5 --- /dev/null +++ b/v1.1.0/assets/documenter.js @@ -0,0 +1,1050 @@ +// Generated by Documenter.jl +requirejs.config({ + paths: { + 'highlight-julia': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/languages/julia.min', + 'headroom': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/headroom.min', + 'jqueryui': 'https://cdnjs.cloudflare.com/ajax/libs/jqueryui/1.13.2/jquery-ui.min', + 'katex-auto-render': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.16.8/contrib/auto-render.min', + 'jquery': 'https://cdnjs.cloudflare.com/ajax/libs/jquery/3.7.0/jquery.min', + 'headroom-jquery': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/jQuery.headroom.min', + 'katex': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.16.8/katex.min', + 'highlight': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/highlight.min', + 'highlight-julia-repl': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/languages/julia-repl.min', + }, + shim: { + "highlight-julia": { + "deps": [ + "highlight" + ] + }, + "katex-auto-render": { + "deps": [ + "katex" + ] + }, + "headroom-jquery": { + "deps": [ + "jquery", + "headroom" + ] + }, + "highlight-julia-repl": { + "deps": [ + "highlight" + ] + } +} +}); +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'katex', 'katex-auto-render'], function($, katex, renderMathInElement) { +$(document).ready(function() { + renderMathInElement( + document.body, + { + "delimiters": [ + { + "left": "$", + "right": "$", + "display": false + }, + { + "left": "$$", + "right": "$$", + "display": true + }, + { + "left": "\\[", + "right": "\\]", + "display": true + } + ] +} + + ); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'highlight', 'highlight-julia', 'highlight-julia-repl'], function($) { +$(document).ready(function() { + hljs.highlightAll(); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +let timer = 0; +var isExpanded = true; + +$(document).on("click", ".docstring header", function () { + let articleToggleTitle = "Expand docstring"; + + debounce(() => { + if ($(this).siblings("section").is(":visible")) { + $(this) + .find(".docstring-article-toggle-button") + .removeClass("fa-chevron-down") + .addClass("fa-chevron-right"); + } else { + $(this) + .find(".docstring-article-toggle-button") + .removeClass("fa-chevron-right") + .addClass("fa-chevron-down"); + + articleToggleTitle = "Collapse docstring"; + } + + $(this) + .find(".docstring-article-toggle-button") + .prop("title", articleToggleTitle); + $(this).siblings("section").slideToggle(); + }); +}); + +$(document).on("click", ".docs-article-toggle-button", function (event) { + let articleToggleTitle = "Expand docstring"; + let navArticleToggleTitle = "Expand all docstrings"; + let animationSpeed = event.noToggleAnimation ? 0 : 400; + + debounce(() => { + if (isExpanded) { + $(this).removeClass("fa-chevron-up").addClass("fa-chevron-down"); + $(".docstring-article-toggle-button") + .removeClass("fa-chevron-down") + .addClass("fa-chevron-right"); + + isExpanded = false; + + $(".docstring section").slideUp(animationSpeed); + } else { + $(this).removeClass("fa-chevron-down").addClass("fa-chevron-up"); + $(".docstring-article-toggle-button") + .removeClass("fa-chevron-right") + .addClass("fa-chevron-down"); + + isExpanded = true; + articleToggleTitle = "Collapse docstring"; + navArticleToggleTitle = "Collapse all docstrings"; + + $(".docstring section").slideDown(animationSpeed); + } + + $(this).prop("title", navArticleToggleTitle); + $(".docstring-article-toggle-button").prop("title", articleToggleTitle); + }); +}); + +function debounce(callback, timeout = 300) { + if (Date.now() - timer > timeout) { + callback(); + } + + clearTimeout(timer); + + timer = Date.now(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require([], function() { +function addCopyButtonCallbacks() { + for (const el of document.getElementsByTagName("pre")) { + const button = document.createElement("button"); + button.classList.add("copy-button", "fa-solid", "fa-copy"); + button.setAttribute("aria-label", "Copy this code block"); + button.setAttribute("title", "Copy"); + + el.appendChild(button); + + const success = function () { + button.classList.add("success", "fa-check"); + button.classList.remove("fa-copy"); + }; + + const failure = function () { + button.classList.add("error", "fa-xmark"); + button.classList.remove("fa-copy"); + }; + + button.addEventListener("click", function () { + copyToClipboard(el.innerText).then(success, failure); + + setTimeout(function () { + button.classList.add("fa-copy"); + button.classList.remove("success", "fa-check", "fa-xmark"); + }, 5000); + }); + } +} + +function copyToClipboard(text) { + // clipboard API is only available in secure contexts + if (window.navigator && window.navigator.clipboard) { + return window.navigator.clipboard.writeText(text); + } else { + return new Promise(function (resolve, reject) { + try { + const el = document.createElement("textarea"); + el.textContent = text; + el.style.position = "fixed"; + el.style.opacity = 0; + document.body.appendChild(el); + el.select(); + document.execCommand("copy"); + + resolve(); + } catch (err) { + reject(err); + } finally { + document.body.removeChild(el); + } + }); + } +} + +if (document.readyState === "loading") { + document.addEventListener("DOMContentLoaded", addCopyButtonCallbacks); +} else { + addCopyButtonCallbacks(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'headroom', 'headroom-jquery'], function($, Headroom) { + +// Manages the top navigation bar (hides it when the user starts scrolling down on the +// mobile). +window.Headroom = Headroom; // work around buggy module loading? +$(document).ready(function () { + $("#documenter .docs-navbar").headroom({ + tolerance: { up: 10, down: 10 }, + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +$(document).ready(function () { + let meta = $("div[data-docstringscollapsed]").data(); + + if (meta?.docstringscollapsed) { + $("#documenter-article-toggle-button").trigger({ + type: "click", + noToggleAnimation: true, + }); + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +/* +To get an in-depth about the thought process you can refer: https://hetarth02.hashnode.dev/series/gsoc + +PSEUDOCODE: + +Searching happens automatically as the user types or adjusts the selected filters. +To preserve responsiveness, as much as possible of the slow parts of the search are done +in a web worker. Searching and result generation are done in the worker, and filtering and +DOM updates are done in the main thread. The filters are in the main thread as they should +be very quick to apply. This lets filters be changed without re-searching with minisearch +(which is possible even if filtering is on the worker thread) and also lets filters be +changed _while_ the worker is searching and without message passing (neither of which are +possible if filtering is on the worker thread) + +SEARCH WORKER: + +Import minisearch + +Build index + +On message from main thread + run search + find the first 200 unique results from each category, and compute their divs for display + note that this is necessary and sufficient information for the main thread to find the + first 200 unique results from any given filter set + post results to main thread + +MAIN: + +Launch worker + +Declare nonconstant globals (worker_is_running, last_search_text, unfiltered_results) + +On text update + if worker is not running, launch_search() + +launch_search + set worker_is_running to true, set last_search_text to the search text + post the search query to worker + +on message from worker + if last_search_text is not the same as the text in the search field, + the latest search result is not reflective of the latest search query, so update again + launch_search() + otherwise + set worker_is_running to false + + regardless, display the new search results to the user + save the unfiltered_results as a global + update_search() + +on filter click + adjust the filter selection + update_search() + +update_search + apply search filters by looping through the unfiltered_results and finding the first 200 + unique results that match the filters + + Update the DOM +*/ + +/////// SEARCH WORKER /////// + +function worker_function(documenterSearchIndex, documenterBaseURL, filters) { + importScripts( + "https://cdn.jsdelivr.net/npm/minisearch@6.1.0/dist/umd/index.min.js" + ); + + let data = documenterSearchIndex.map((x, key) => { + x["id"] = key; // minisearch requires a unique for each object + return x; + }); + + // list below is the lunr 2.1.3 list minus the intersect with names(Base) + // (all, any, get, in, is, only, which) and (do, else, for, let, where, while, with) + // ideally we'd just filter the original list but it's not available as a variable + const stopWords = new Set([ + "a", + "able", + "about", + "across", + "after", + "almost", + "also", + "am", + "among", + "an", + "and", + "are", + "as", + "at", + "be", + "because", + "been", + "but", + "by", + "can", + "cannot", + "could", + "dear", + "did", + "does", + "either", + "ever", + "every", + "from", + "got", + "had", + "has", + "have", + "he", + "her", + "hers", + "him", + "his", + "how", + "however", + "i", + "if", + "into", + "it", + "its", + "just", + "least", + "like", + "likely", + "may", + "me", + "might", + "most", + "must", + "my", + "neither", + "no", + "nor", + "not", + "of", + "off", + "often", + "on", + "or", + "other", + "our", + "own", + "rather", + "said", + "say", + "says", + "she", + "should", + "since", + "so", + "some", + "than", + "that", + "the", + "their", + "them", + "then", + "there", + "these", + "they", + "this", + "tis", + "to", + "too", + "twas", + "us", + "wants", + "was", + "we", + "were", + "what", + "when", + "who", + "whom", + "why", + "will", + "would", + "yet", + "you", + "your", + ]); + + let index = new MiniSearch({ + fields: ["title", "text"], // fields to index for full-text search + storeFields: ["location", "title", "text", "category", "page"], // fields to return with results + processTerm: (term) => { + let word = stopWords.has(term) ? null : term; + if (word) { + // custom trimmer that doesn't strip @ and !, which are used in julia macro and function names + word = word + .replace(/^[^a-zA-Z0-9@!]+/, "") + .replace(/[^a-zA-Z0-9@!]+$/, ""); + + word = word.toLowerCase(); + } + + return word ?? null; + }, + // add . as a separator, because otherwise "title": "Documenter.Anchors.add!", would not + // find anything if searching for "add!", only for the entire qualification + tokenize: (string) => string.split(/[\s\-\.]+/), + // options which will be applied during the search + searchOptions: { + prefix: true, + boost: { title: 100 }, + fuzzy: 2, + }, + }); + + index.addAll(data); + + /** + * Used to map characters to HTML entities. + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + const htmlEscapes = { + "&": "&", + "<": "<", + ">": ">", + '"': """, + "'": "'", + }; + + /** + * Used to match HTML entities and HTML characters. + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + const reUnescapedHtml = /[&<>"']/g; + const reHasUnescapedHtml = RegExp(reUnescapedHtml.source); + + /** + * Escape function from lodash + * Refer: https://github.com/lodash/lodash/blob/main/src/escape.ts + */ + function escape(string) { + return string && reHasUnescapedHtml.test(string) + ? string.replace(reUnescapedHtml, (chr) => htmlEscapes[chr]) + : string || ""; + } + + /** + * Make the result component given a minisearch result data object and the value + * of the search input as queryString. To view the result object structure, refer: + * https://lucaong.github.io/minisearch/modules/_minisearch_.html#searchresult + * + * @param {object} result + * @param {string} querystring + * @returns string + */ + function make_search_result(result, querystring) { + let search_divider = `
`; + let display_link = + result.location.slice(Math.max(0), Math.min(50, result.location.length)) + + (result.location.length > 30 ? "..." : ""); // To cut-off the link because it messes with the overflow of the whole div + + if (result.page !== "") { + display_link += ` (${result.page})`; + } + + let textindex = new RegExp(`${querystring}`, "i").exec(result.text); + let text = + textindex !== null + ? result.text.slice( + Math.max(textindex.index - 100, 0), + Math.min( + textindex.index + querystring.length + 100, + result.text.length + ) + ) + : ""; // cut-off text before and after from the match + + text = text.length ? escape(text) : ""; + + let display_result = text.length + ? "..." + + text.replace( + new RegExp(`${escape(querystring)}`, "i"), // For first occurrence + '$&' + ) + + "..." + : ""; // highlights the match + + let in_code = false; + if (!["page", "section"].includes(result.category.toLowerCase())) { + in_code = true; + } + + // We encode the full url to escape some special characters which can lead to broken links + let result_div = ` + +
+
${escape(result.title)}
+
${result.category}
+
+

+ ${display_result} +

+
+ ${display_link} +
+ + ${search_divider} + `; + + return result_div; + } + + self.onmessage = function (e) { + let query = e.data; + let results = index.search(query, { + filter: (result) => { + // Only return relevant results + return result.score >= 1; + }, + }); + + // Pre-filter to deduplicate and limit to 200 per category to the extent + // possible without knowing what the filters are. + let filtered_results = []; + let counts = {}; + for (let filter of filters) { + counts[filter] = 0; + } + let present = {}; + + for (let result of results) { + cat = result.category; + cnt = counts[cat]; + if (cnt < 200) { + id = cat + "---" + result.location; + if (present[id]) { + continue; + } + present[id] = true; + filtered_results.push({ + location: result.location, + category: cat, + div: make_search_result(result, query), + }); + } + } + + postMessage(filtered_results); + }; +} + +// `worker = Threads.@spawn worker_function(documenterSearchIndex)`, but in JavaScript! +const filters = [ + ...new Set(documenterSearchIndex["docs"].map((x) => x.category)), +]; +const worker_str = + "(" + + worker_function.toString() + + ")(" + + JSON.stringify(documenterSearchIndex["docs"]) + + "," + + JSON.stringify(documenterBaseURL) + + "," + + JSON.stringify(filters) + + ")"; +const worker_blob = new Blob([worker_str], { type: "text/javascript" }); +const worker = new Worker(URL.createObjectURL(worker_blob)); + +/////// SEARCH MAIN /////// + +// Whether the worker is currently handling a search. This is a boolean +// as the worker only ever handles 1 or 0 searches at a time. +var worker_is_running = false; + +// The last search text that was sent to the worker. This is used to determine +// if the worker should be launched again when it reports back results. +var last_search_text = ""; + +// The results of the last search. This, in combination with the state of the filters +// in the DOM, is used compute the results to display on calls to update_search. +var unfiltered_results = []; + +// Which filter is currently selected +var selected_filter = ""; + +$(document).on("input", ".documenter-search-input", function (event) { + if (!worker_is_running) { + launch_search(); + } +}); + +function launch_search() { + worker_is_running = true; + last_search_text = $(".documenter-search-input").val(); + worker.postMessage(last_search_text); +} + +worker.onmessage = function (e) { + if (last_search_text !== $(".documenter-search-input").val()) { + launch_search(); + } else { + worker_is_running = false; + } + + unfiltered_results = e.data; + update_search(); +}; + +$(document).on("click", ".search-filter", function () { + if ($(this).hasClass("search-filter-selected")) { + selected_filter = ""; + } else { + selected_filter = $(this).text().toLowerCase(); + } + + // This updates search results and toggles classes for UI: + update_search(); +}); + +/** + * Make/Update the search component + */ +function update_search() { + let querystring = $(".documenter-search-input").val(); + + if (querystring.trim()) { + if (selected_filter == "") { + results = unfiltered_results; + } else { + results = unfiltered_results.filter((result) => { + return selected_filter == result.category.toLowerCase(); + }); + } + + let search_result_container = ``; + let modal_filters = make_modal_body_filters(); + let search_divider = `
`; + + if (results.length) { + let links = []; + let count = 0; + let search_results = ""; + + for (var i = 0, n = results.length; i < n && count < 200; ++i) { + let result = results[i]; + if (result.location && !links.includes(result.location)) { + search_results += result.div; + count++; + links.push(result.location); + } + } + + if (count == 1) { + count_str = "1 result"; + } else if (count == 200) { + count_str = "200+ results"; + } else { + count_str = count + " results"; + } + let result_count = `
${count_str}
`; + + search_result_container = ` +
+ ${modal_filters} + ${search_divider} + ${result_count} +
+ ${search_results} +
+
+ `; + } else { + search_result_container = ` +
+ ${modal_filters} + ${search_divider} +
0 result(s)
+
+
No result found!
+ `; + } + + if ($(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").removeClass("is-justify-content-center"); + } + + $(".search-modal-card-body").html(search_result_container); + } else { + if (!$(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").addClass("is-justify-content-center"); + } + + $(".search-modal-card-body").html(` +
Type something to get started!
+ `); + } +} + +/** + * Make the modal filter html + * + * @returns string + */ +function make_modal_body_filters() { + let str = filters + .map((val) => { + if (selected_filter == val.toLowerCase()) { + return `${val}`; + } else { + return `${val}`; + } + }) + .join(""); + + return ` +
+ Filters: + ${str} +
`; +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Modal settings dialog +$(document).ready(function () { + var settings = $("#documenter-settings"); + $("#documenter-settings-button").click(function () { + settings.toggleClass("is-active"); + }); + // Close the dialog if X is clicked + $("#documenter-settings button.delete").click(function () { + settings.removeClass("is-active"); + }); + // Close dialog if ESC is pressed + $(document).keyup(function (e) { + if (e.keyCode == 27) settings.removeClass("is-active"); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +$(document).ready(function () { + let search_modal_header = ` +
+
+

+ + + + +

+
+
+ +
+
+ `; + + let initial_search_body = ` +
Type something to get started!
+ `; + + let search_modal_footer = ` + + `; + + $(document.body).append( + ` + + ` + ); + + document.querySelector(".docs-search-query").addEventListener("click", () => { + openModal(); + }); + + document + .querySelector(".close-search-modal") + .addEventListener("click", () => { + closeModal(); + }); + + $(document).on("click", ".search-result-link", function () { + closeModal(); + }); + + document.addEventListener("keydown", (event) => { + if ((event.ctrlKey || event.metaKey) && event.key === "/") { + openModal(); + } else if (event.key === "Escape") { + closeModal(); + } + + return false; + }); + + // Functions to open and close a modal + function openModal() { + let searchModal = document.querySelector("#search-modal"); + + searchModal.classList.add("is-active"); + document.querySelector(".documenter-search-input").focus(); + } + + function closeModal() { + let searchModal = document.querySelector("#search-modal"); + let initial_search_body = ` +
Type something to get started!
+ `; + + searchModal.classList.remove("is-active"); + document.querySelector(".documenter-search-input").blur(); + + if (!$(".search-modal-card-body").hasClass("is-justify-content-center")) { + $(".search-modal-card-body").addClass("is-justify-content-center"); + } + + $(".documenter-search-input").val(""); + $(".search-modal-card-body").html(initial_search_body); + } + + document + .querySelector("#search-modal .modal-background") + .addEventListener("click", () => { + closeModal(); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Manages the showing and hiding of the sidebar. +$(document).ready(function () { + var sidebar = $("#documenter > .docs-sidebar"); + var sidebar_button = $("#documenter-sidebar-button"); + sidebar_button.click(function (ev) { + ev.preventDefault(); + sidebar.toggleClass("visible"); + if (sidebar.hasClass("visible")) { + // Makes sure that the current menu item is visible in the sidebar. + $("#documenter .docs-menu a.is-active").focus(); + } + }); + $("#documenter > .docs-main").bind("click", function (ev) { + if ($(ev.target).is(sidebar_button)) { + return; + } + if (sidebar.hasClass("visible")) { + sidebar.removeClass("visible"); + } + }); +}); + +// Resizes the package name / sitename in the sidebar if it is too wide. +// Inspired by: https://github.com/davatron5000/FitText.js +$(document).ready(function () { + e = $("#documenter .docs-autofit"); + function resize() { + var L = parseInt(e.css("max-width"), 10); + var L0 = e.width(); + if (L0 > L) { + var h0 = parseInt(e.css("font-size"), 10); + e.css("font-size", (L * h0) / L0); + // TODO: make sure it survives resizes? + } + } + // call once and then register events + resize(); + $(window).resize(resize); + $(window).on("orientationchange", resize); +}); + +// Scroll the navigation bar to the currently selected menu item +$(document).ready(function () { + var sidebar = $("#documenter .docs-menu").get(0); + var active = $("#documenter .docs-menu .is-active").get(0); + if (typeof active !== "undefined") { + sidebar.scrollTop = active.offsetTop - sidebar.offsetTop - 15; + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Theme picker setup +$(document).ready(function () { + // onchange callback + $("#documenter-themepicker").change(function themepick_callback(ev) { + var themename = $("#documenter-themepicker option:selected").attr("value"); + if (themename === "auto") { + // set_theme(window.matchMedia('(prefers-color-scheme: dark)').matches ? 'dark' : 'light'); + window.localStorage.removeItem("documenter-theme"); + } else { + // set_theme(themename); + window.localStorage.setItem("documenter-theme", themename); + } + // We re-use the global function from themeswap.js to actually do the swapping. + set_theme_from_local_storage(); + }); + + // Make sure that the themepicker displays the correct theme when the theme is retrieved + // from localStorage + if (typeof window.localStorage !== "undefined") { + var theme = window.localStorage.getItem("documenter-theme"); + if (theme !== null) { + $("#documenter-themepicker option").each(function (i, e) { + e.selected = e.value === theme; + }); + } + } +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// update the version selector with info from the siteinfo.js and ../versions.js files +$(document).ready(function () { + // If the version selector is disabled with DOCUMENTER_VERSION_SELECTOR_DISABLED in the + // siteinfo.js file, we just return immediately and not display the version selector. + if ( + typeof DOCUMENTER_VERSION_SELECTOR_DISABLED === "boolean" && + DOCUMENTER_VERSION_SELECTOR_DISABLED + ) { + return; + } + + var version_selector = $("#documenter .docs-version-selector"); + var version_selector_select = $("#documenter .docs-version-selector select"); + + version_selector_select.change(function (x) { + target_href = version_selector_select + .children("option:selected") + .get(0).value; + window.location.href = target_href; + }); + + // add the current version to the selector based on siteinfo.js, but only if the selector is empty + if ( + typeof DOCUMENTER_CURRENT_VERSION !== "undefined" && + $("#version-selector > option").length == 0 + ) { + var option = $( + "" + ); + version_selector_select.append(option); + } + + if (typeof DOC_VERSIONS !== "undefined") { + var existing_versions = version_selector_select.children("option"); + var existing_versions_texts = existing_versions.map(function (i, x) { + return x.text; + }); + DOC_VERSIONS.forEach(function (each) { + var version_url = documenterBaseURL + "/../" + each + "/"; + var existing_id = $.inArray(each, existing_versions_texts); + // if not already in the version selector, add it as a new option, + // otherwise update the old option with the URL and enable it + if (existing_id == -1) { + var option = $( + "" + ); + version_selector_select.append(option); + } else { + var option = existing_versions[existing_id]; + option.value = version_url; + option.disabled = false; + } + }); + } + + // only show the version selector if the selector has been populated + if (version_selector_select.children("option").length > 0) { + version_selector.toggleClass("visible"); + } +}); + +}) diff --git a/v1.1.0/assets/initial_belief.png b/v1.1.0/assets/initial_belief.png new file mode 100644 index 0000000000000000000000000000000000000000..0cb98cfe504cfd3fb876fa9a242109647940a1da GIT binary patch literal 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kbd.button.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading:focus::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading.is-focused::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-dark.is-outlined[disabled],html.theme--documenter-dark .content kbd.button.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark.is-outlined,fieldset[disabled] html.theme--documenter-dark .content kbd.button.is-outlined{background-color:transparent;border-color:#282f2f;box-shadow:none;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined,html.theme--documenter-dark .content 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.button.is-danger.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined:focus,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-focused{background-color:#fff;color:#9e1b0d}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #9e1b0d #9e1b0d !important}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined{background-color:transparent;border-color:#fff;box-shadow:none;color:#fff}html.theme--documenter-dark .button.is-danger.is-light{background-color:#fdeeec;color:#ec311d}html.theme--documenter-dark .button.is-danger.is-light:hover,html.theme--documenter-dark .button.is-danger.is-light.is-hovered{background-color:#fce3e0;border-color:transparent;color:#ec311d}html.theme--documenter-dark .button.is-danger.is-light:active,html.theme--documenter-dark .button.is-danger.is-light.is-active{background-color:#fcd8d5;border-color:transparent;color:#ec311d}html.theme--documenter-dark .button.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button{font-size:.75rem}html.theme--documenter-dark .button.is-small:not(.is-rounded),html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button:not(.is-rounded){border-radius:3px}html.theme--documenter-dark .button.is-normal{font-size:1rem}html.theme--documenter-dark .button.is-medium{font-size:1.25rem}html.theme--documenter-dark .button.is-large{font-size:1.5rem}html.theme--documenter-dark .button[disabled],fieldset[disabled] html.theme--documenter-dark .button{background-color:#8c9b9d;border-color:#5e6d6f;box-shadow:none;opacity:.5}html.theme--documenter-dark .button.is-fullwidth{display:flex;width:100%}html.theme--documenter-dark .button.is-loading{color:transparent !important;pointer-events:none}html.theme--documenter-dark .button.is-loading::after{position:absolute;left:calc(50% - (1em * 0.5));top:calc(50% - (1em * 0.5));position:absolute !important}html.theme--documenter-dark .button.is-static{background-color:#282f2f;border-color:#5e6d6f;color:#dbdee0;box-shadow:none;pointer-events:none}html.theme--documenter-dark .button.is-rounded,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button{border-radius:9999px;padding-left:calc(1em + 0.25em);padding-right:calc(1em + 0.25em)}html.theme--documenter-dark .buttons{align-items:center;display:flex;flex-wrap:wrap;justify-content:flex-start}html.theme--documenter-dark .buttons .button{margin-bottom:0.5rem}html.theme--documenter-dark .buttons .button:not(:last-child):not(.is-fullwidth){margin-right:.5rem}html.theme--documenter-dark .buttons:last-child{margin-bottom:-0.5rem}html.theme--documenter-dark .buttons:not(:last-child){margin-bottom:1rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large){font-size:.75rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large):not(.is-rounded){border-radius:3px}html.theme--documenter-dark .buttons.are-medium .button:not(.is-small):not(.is-normal):not(.is-large){font-size:1.25rem}html.theme--documenter-dark .buttons.are-large .button:not(.is-small):not(.is-normal):not(.is-medium){font-size:1.5rem}html.theme--documenter-dark .buttons.has-addons .button:not(:first-child){border-bottom-left-radius:0;border-top-left-radius:0}html.theme--documenter-dark .buttons.has-addons .button:not(:last-child){border-bottom-right-radius:0;border-top-right-radius:0;margin-right:-1px}html.theme--documenter-dark .buttons.has-addons .button:last-child{margin-right:0}html.theme--documenter-dark .buttons.has-addons .button:hover,html.theme--documenter-dark .buttons.has-addons .button.is-hovered{z-index:2}html.theme--documenter-dark .buttons.has-addons .button:focus,html.theme--documenter-dark .buttons.has-addons .button.is-focused,html.theme--documenter-dark .buttons.has-addons .button:active,html.theme--documenter-dark .buttons.has-addons .button.is-active,html.theme--documenter-dark .buttons.has-addons .button.is-selected{z-index:3}html.theme--documenter-dark .buttons.has-addons .button:focus:hover,html.theme--documenter-dark .buttons.has-addons .button.is-focused:hover,html.theme--documenter-dark .buttons.has-addons .button:active:hover,html.theme--documenter-dark .buttons.has-addons .button.is-active:hover,html.theme--documenter-dark .buttons.has-addons .button.is-selected:hover{z-index:4}html.theme--documenter-dark .buttons.has-addons .button.is-expanded{flex-grow:1;flex-shrink:1}html.theme--documenter-dark .buttons.is-centered{justify-content:center}html.theme--documenter-dark .buttons.is-centered:not(.has-addons) .button:not(.is-fullwidth){margin-left:0.25rem;margin-right:0.25rem}html.theme--documenter-dark .buttons.is-right{justify-content:flex-end}html.theme--documenter-dark .buttons.is-right:not(.has-addons) .button:not(.is-fullwidth){margin-left:0.25rem;margin-right:0.25rem}@media screen and (max-width: 768px){html.theme--documenter-dark .button.is-responsive.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.is-responsive{font-size:.5625rem}html.theme--documenter-dark .button.is-responsive,html.theme--documenter-dark .button.is-responsive.is-normal{font-size:.65625rem}html.theme--documenter-dark .button.is-responsive.is-medium{font-size:.75rem}html.theme--documenter-dark .button.is-responsive.is-large{font-size:1rem}}@media screen and (min-width: 769px) and (max-width: 1055px){html.theme--documenter-dark .button.is-responsive.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.is-responsive{font-size:.65625rem}html.theme--documenter-dark .button.is-responsive,html.theme--documenter-dark .button.is-responsive.is-normal{font-size:.75rem}html.theme--documenter-dark .button.is-responsive.is-medium{font-size:1rem}html.theme--documenter-dark .button.is-responsive.is-large{font-size:1.25rem}}html.theme--documenter-dark .container{flex-grow:1;margin:0 auto;position:relative;width:auto}html.theme--documenter-dark .container.is-fluid{max-width:none !important;padding-left:32px;padding-right:32px;width:100%}@media screen and (min-width: 1056px){html.theme--documenter-dark .container{max-width:992px}}@media screen and (max-width: 1215px){html.theme--documenter-dark .container.is-widescreen:not(.is-max-desktop){max-width:1152px}}@media screen and (max-width: 1407px){html.theme--documenter-dark .container.is-fullhd:not(.is-max-desktop):not(.is-max-widescreen){max-width:1344px}}@media screen and (min-width: 1216px){html.theme--documenter-dark .container:not(.is-max-desktop){max-width:1152px}}@media screen and (min-width: 1408px){html.theme--documenter-dark .container:not(.is-max-desktop):not(.is-max-widescreen){max-width:1344px}}html.theme--documenter-dark .content li+li{margin-top:0.25em}html.theme--documenter-dark .content p:not(:last-child),html.theme--documenter-dark .content dl:not(:last-child),html.theme--documenter-dark .content ol:not(:last-child),html.theme--documenter-dark .content ul:not(:last-child),html.theme--documenter-dark .content blockquote:not(:last-child),html.theme--documenter-dark .content pre:not(:last-child),html.theme--documenter-dark .content table:not(:last-child){margin-bottom:1em}html.theme--documenter-dark .content h1,html.theme--documenter-dark .content h2,html.theme--documenter-dark .content h3,html.theme--documenter-dark .content h4,html.theme--documenter-dark .content h5,html.theme--documenter-dark .content h6{color:#f2f2f2;font-weight:600;line-height:1.125}html.theme--documenter-dark .content h1{font-size:2em;margin-bottom:0.5em}html.theme--documenter-dark .content h1:not(:first-child){margin-top:1em}html.theme--documenter-dark .content h2{font-size:1.75em;margin-bottom:0.5714em}html.theme--documenter-dark .content h2:not(:first-child){margin-top:1.1428em}html.theme--documenter-dark .content h3{font-size:1.5em;margin-bottom:0.6666em}html.theme--documenter-dark .content h3:not(:first-child){margin-top:1.3333em}html.theme--documenter-dark .content h4{font-size:1.25em;margin-bottom:0.8em}html.theme--documenter-dark .content h5{font-size:1.125em;margin-bottom:0.8888em}html.theme--documenter-dark .content h6{font-size:1em;margin-bottom:1em}html.theme--documenter-dark .content blockquote{background-color:#282f2f;border-left:5px solid #5e6d6f;padding:1.25em 1.5em}html.theme--documenter-dark .content ol{list-style-position:outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ol:not([type]){list-style-type:decimal}html.theme--documenter-dark .content ol.is-lower-alpha:not([type]){list-style-type:lower-alpha}html.theme--documenter-dark .content ol.is-lower-roman:not([type]){list-style-type:lower-roman}html.theme--documenter-dark .content ol.is-upper-alpha:not([type]){list-style-type:upper-alpha}html.theme--documenter-dark .content ol.is-upper-roman:not([type]){list-style-type:upper-roman}html.theme--documenter-dark .content ul{list-style:disc outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ul ul{list-style-type:circle;margin-top:0.5em}html.theme--documenter-dark .content ul ul ul{list-style-type:square}html.theme--documenter-dark .content dd{margin-left:2em}html.theme--documenter-dark .content figure{margin-left:2em;margin-right:2em;text-align:center}html.theme--documenter-dark .content figure:not(:first-child){margin-top:2em}html.theme--documenter-dark .content figure:not(:last-child){margin-bottom:2em}html.theme--documenter-dark .content figure img{display:inline-block}html.theme--documenter-dark .content figure figcaption{font-style:italic}html.theme--documenter-dark .content pre{-webkit-overflow-scrolling:touch;overflow-x:auto;padding:0;white-space:pre;word-wrap:normal}html.theme--documenter-dark .content sup,html.theme--documenter-dark .content sub{font-size:75%}html.theme--documenter-dark .content table{width:100%}html.theme--documenter-dark .content table td,html.theme--documenter-dark .content table th{border:1px solid #5e6d6f;border-width:0 0 1px;padding:0.5em 0.75em;vertical-align:top}html.theme--documenter-dark .content table th{color:#f2f2f2}html.theme--documenter-dark .content table th:not([align]){text-align:inherit}html.theme--documenter-dark .content table thead td,html.theme--documenter-dark .content table thead th{border-width:0 0 2px;color:#f2f2f2}html.theme--documenter-dark .content table tfoot td,html.theme--documenter-dark .content table tfoot th{border-width:2px 0 0;color:#f2f2f2}html.theme--documenter-dark .content table tbody tr:last-child td,html.theme--documenter-dark .content table tbody tr:last-child th{border-bottom-width:0}html.theme--documenter-dark .content .tabs li+li{margin-top:0}html.theme--documenter-dark .content.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.content{font-size:.75rem}html.theme--documenter-dark .content.is-normal{font-size:1rem}html.theme--documenter-dark .content.is-medium{font-size:1.25rem}html.theme--documenter-dark .content.is-large{font-size:1.5rem}html.theme--documenter-dark .icon{align-items:center;display:inline-flex;justify-content:center;height:1.5rem;width:1.5rem}html.theme--documenter-dark .icon.is-small,html.theme--documenter-dark #documenter 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#documenter .docs-sidebar .docs-logo>img img.is-rounded{border-radius:9999px}html.theme--documenter-dark .image.is-fullwidth,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-fullwidth{width:100%}html.theme--documenter-dark .image.is-square img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-square img,html.theme--documenter-dark .image.is-square .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-square .has-ratio,html.theme--documenter-dark .image.is-1by1 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by1 img,html.theme--documenter-dark .image.is-1by1 .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by1 .has-ratio,html.theme--documenter-dark .image.is-5by4 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-5by4 img,html.theme--documenter-dark .image.is-5by4 .has-ratio,html.theme--documenter-dark #documenter 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img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by4 img,html.theme--documenter-dark .image.is-3by4 .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by4 .has-ratio,html.theme--documenter-dark .image.is-2by3 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by3 img,html.theme--documenter-dark .image.is-2by3 .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by3 .has-ratio,html.theme--documenter-dark .image.is-3by5 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by5 img,html.theme--documenter-dark .image.is-3by5 .has-ratio,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by5 .has-ratio,html.theme--documenter-dark .image.is-9by16 img,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-9by16 img,html.theme--documenter-dark .image.is-9by16 .has-ratio,html.theme--documenter-dark #documenter 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GitHub

Circular Maze

Description

This environment is a generalization of the Circular Maze POMDP described in Finding Approximate POMDP solutions Through Belief Compression.[1] The world consists of n_corridor 1D circular corridors that each have corridor_length states. The robot spawns in a random corridor. It must determine which corridor its in, navigate to the proper goal state, and finally declare that it has finished.

<center> *Figure from Finding Approximate POMDP solutions Through Belief Compression. </center>

Action Space

Transitions left and right are noisy and non-deterministic. Transition probabilities are from a discrete von Mises distribution with unit concentration and mean at the target state.

NumActionDescription
1CMAZE_LEFTMove left with von Mises noise.
2CMAZE_RIGHTMove right with von Mises noise.
3CMAZE_SENSE_CORRIDORObserve the current corridor.
4CMAZE_DECLARE_GOALEnds the episode. Receive r_findgoal if at the goal.

State Space

The (ordered) state space is an array of all CircularMazeStates and a terminalstate: [CircularMaze(1, 1), ..., CircularMaze(n_corridors, corridor_length), TerminalState()].

Observation Space

The observation space is the union of the state space and 1:n_corridors. If the robot picks CMAZE_SENSE_CORRIDOR, they observe the index of the current corridor. Otherwise, they observe their current state with von Mises noise.

Rewards

The goal is to navigate to the correct goal state for the given corridor and then to declare the goal once arrived. If the robot correctly declares the goal, it receives r_findgoal. It incurs a r_timestep_penalty for every timestep it does not reach the goal. By default r_findgoal is 1 and r_timestep_penalty is 0.

Starting State

The initial state is sampled from a repeated, discrete von Mises distribution each with a concentration at the center of the hallway.

Episode End

The episode terminates once the robot declares the goal CMAZE_DECLARE_GOAL regardless of whether the robot is correct.

Documentation

CompressedBeliefMDPs.CircularMaze — Type
CircularMaze(n_corridors::Integer, corridor_length::Integer, discount::Float64, r_findgoal::Float64, r_timestep_penalty::Float64)
+CircularMaze(n_corridors::Integer, corridor_length::Integer; kwargs...)
+CircularMaze()

A POMDP representing a circular maze environment.

Fields

  • n_corridors::Integer: Number of corridors in the circular maze.
  • corridor_length::Integer: Length of each corridor.
  • probabilities::AbstractArray: Probability masses for creating von Mises distributions.
  • center::Integer: The central position in the maze.
  • discount::Float64: Discount factor for future rewards.
  • r_findgoal::Float64: Reward for finding the goal.
  • r_timestep_penalty::Float64: Penalty for each timestep taken.
  • states::AbstractArray: Array of all possible states in the maze.
  • goals::AbstractArray: Array of goal states in the maze.

Example

using CompressedBeliefMDPs
+
+n_corridors = 8
+corridor_length = 25
+maze = CircularMaze(n_corridors, corridor_length)
source
CompressedBeliefMDPs.CircularMazeState — Type
CircularMazeState(corridor::Integer, x::Integer)

The CircularMazeState struct represents the state of an agent in a circular maze.

Fields

  • corridor::Integer: The corridor number. The value ranges from 1 to n_corridors.
  • x::Integer: The position of the state within the corridor. The value ranges from 1 to the corridor_length.
source
  • 1Roy doesn't actually name his toy environment. For the original environment details, see the "PCA Performance" subsection on page 8.
diff --git a/v1.1.0/compressors/index.html b/v1.1.0/compressors/index.html new file mode 100644 index 0000000..d680018 --- /dev/null +++ b/v1.1.0/compressors/index.html @@ -0,0 +1,15 @@ + +Compressors · CompressedBeliefMDPs
GitHub

Compressors

Defining a Belief Compressor

In this section, we outline the requirements and guidelines for defining a belief Compressor.

Interface

The Compressor interface is extremely minimal. It only supports two methods: fit! and the associated functor. For example, if you wanted to implement your own Compressor, you could write something like this

struct MyCompressor <: Compressor
+    foo
+    bar
+end
+
+# functor definition
+function (c::MyCompressor)(beliefs)
+    # YOUR CODE HERE
+    return compressed_beliefs
+end
+
+function fit!(c::MyCompressor, beliefs)
+    # YOUR CODE HERE
+end

Implementation Tips

  • For robustness, both the functor and fit! should be able to handle AbstractVector and AbstractMatrix inputs.
  • fit! is called only once after beliefs are sampled from the POMDP.
  • CompressedBeliefSolver will attempt to convert each belief state (often of type DiscreteBelief) into an AbstractArray{Float64} using convert_s. As a convenience, CompressedBeliefMDP implements conversions for commonly used belief types; however, if the POMDP has a custom belief state, then it is the users' responsibility to implement the appropriate conversion. See the source code for help.

Implemented Compressors

CompressedBeliefMDPs currently provides wrappers for the following compression types:

  • a principal component analysis (PCA) compressor,
  • a kernel PCA compressor,
  • a probabilistic PCA compressor,
  • a factor analysis compressor,
  • an isomap compressor,
  • an autoencoder compressor
  • a variational auto-encoder (VAE) compressor

Principal Component Analysis (PCA)

Kernel PCA

Probabilistic PCA

Factor Analysis

Isomap

Autoencoder

Variational Auto-Encoder (VAE)

Warning

Some compression algorithms aren't optimized for large belief spaces. While they pass our unit tests, they may fail on large POMDPs or without seeding. For large POMDPs, users may want a custom Compressor.

diff --git a/v1.1.0/index.html b/v1.1.0/index.html new file mode 100644 index 0000000..8b92e40 --- /dev/null +++ b/v1.1.0/index.html @@ -0,0 +1,68 @@ + +CompressedBeliefMDPs.jl · CompressedBeliefMDPs
GitHub

CompressedBeliefMDPs.jl

Introduction

Welcome to CompressedBeliefMDPs.jl! This package is part of the POMDPs.jl ecosystem and takes inspiration from Exponential Family PCA for Belief Compression in POMDPs.

This package provides a general framework for applying belief compression in large POMDPs with generic compression, sampling, and planning algorithms.

Installation

You can install CompressedBeliefMDPs.jl using Julia's package manager. Open the Julia REPL (press ] to enter the package manager mode) and run the following command:

pkg> add CompressedBeliefMDPs

Quickstart

Using belief compression is easy. Simplify pick a Sampler, Compressor, and a base Policy and then use the standard POMDPs.jl interface.

using POMDPs, POMDPTools, POMDPModels
+using CompressedBeliefMDPs
+
+pomdp = BabyPOMDP()
+compressor = PCACompressor(1)
+updater = DiscreteUpdater(pomdp)
+sampler = BeliefExpansionSampler(pomdp)
+solver = CompressedBeliefSolver(
+    pomdp;
+    compressor=compressor,
+    sampler=sampler,
+    updater=updater,
+    verbose=true, 
+    max_iterations=100, 
+    n_generative_samples=50, 
+    k=2
+)
+policy = solve(solver, pomdp)

Continuous Example

This example demonstrates using CompressedBeliefMDP in a continuous setting with the LightDark1D POMDP. It combines particle filters for belief updating and Monte Carlo Tree Search (MCTS) as the solver. While compressing a 1D space is trivial toy problem, this architecture can be easily scaled to larger POMDPs with continuous state and action spaces.

using POMDPs, POMDPModels, POMDPTools
+using ParticleFilters
+using MCTS
+using CompressedBeliefMDPs
+
+pomdp = LightDark1D()
+pomdp.movement_cost = 1
+base_solver = MCTSSolver(n_iterations=10, depth=50, exploration_constant=5.0)
+updater = BootstrapFilter(pomdp, 100)
+solver = CompressedBeliefSolver(
+    pomdp,
+    base_solver;
+    updater=updater,
+    sampler=PolicySampler(pomdp; updater=updater)
+)
+policy = solve(solver, pomdp)
+rs = RolloutSimulator(max_steps=50)
+r = simulate(rs, pomdp, policy)

Continuous Example

This example demonstrates using CompressedBeliefMDP in a continuous setting with the LightDark1D POMDP. It combines particle filters for belief updating and Monte Carlo Tree Search (MCTS) as the solver. While compressing a 1D space is trivial toy problem, this architecture can be easily scaled to larger POMDPs with continuous state and action spaces.

using POMDPs, POMDPModels, POMDPTools
+using ParticleFilters
+using MCTS
+using CompressedBeliefMDPs
+
+pomdp = LightDark1D()
+pomdp.movement_cost = 1
+base_solver = MCTSSolver(n_iterations=10, depth=50, exploration_constant=5.0)
+updater = BootstrapFilter(pomdp, 100)
+solver = CompressedBeliefSolver(
+    pomdp,
+    base_solver;
+    updater=updater,
+    sampler=PolicySampler(pomdp; updater=updater)
+)
+policy = solve(solver, pomdp)
+rs = RolloutSimulator(max_steps=50)
+r = simulate(rs, pomdp, policy)

Note: We use MCTS here as a proof of concept that CompressedBeliefMDPs can handle continuous state and action spaces. In reality, belief compression has no effect on MCTS with double progressive widening. If you want to solve continuous POMDPs, we suggest implementing a custom solver or looking into Crux.jl.

Large Example

In this example, we tackle a more realistic scenario with the TMaze POMDP, which has 123 states. To handle the larger state space efficiently, we employ a variational auto-encoder (VAE) to compress the belief simplex. By leveraging the VAE's ability to learn a compact representation of the belief state, we focus computational power on the relevant compressed belief states during each Bellman update.

using POMDPs, POMDPModels, POMDPTools
+using CompressedBeliefMDPs
+
+pomdp = TMaze(60, 0.9)
+solver = CompressedBeliefSolver(
+    pomdp;
+    compressor=VAECompressor(123, 6; hidden_dim=10, verbose=true, epochs=2),
+    sampler=PolicySampler(pomdp, n=500),
+    verbose=true, 
+    max_iterations=1000, 
+    n_generative_samples=30,
+    k=2
+)
+policy = solve(solver, pomdp)
+rs = RolloutSimulator(max_steps=50)
+r = simulate(rs, pomdp, policy)

Concepts and Architecture

CompressedBeliefMDPs.jl aims to implement a generalization of the belief compression algorithm for solving large POMDPs. The algorithm has four steps:

  1. collect belief samples,
  2. compress the samples,
  3. create the compressed belief-state MDP,
  4. solve the MDP.

Each step is handled by Sampler, Compressor, CompressedBeliefMDP, and CompressedBeliefSolver respectively.

For more details, please see the rest of the documentation or the associated paper.

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GitHub

Samplers

Defining a Sampler

In this section, we outline the requirements and guidelines for defining a belief Sampler.

Interface

The Sampler interface only has one method: the functor. For example, if you wanted to implement your own Sampler, you could write something like this

struct MySampler <: Compressor
+    foo
+    bar
+end
+
+# functor definition
+function (c::MySampler)(pomdp::POMDP)
+    # YOUR CODE HERE
+    return sampled_beliefs
+end

Implemented Sampler

CompressedBeliefMDPs provides the following generic belief samplers:

Exploratory Belief Expansion

CompressedBeliefMDPs.BeliefExpansionSampler — Type
BeliefExpansionSampler

Fast extension of exploratory belief expansion (Algorithm 21.13 in Algorithms for Decision Making) that uses $k$-d trees.

Fields

  • updater::Updater: The updater used to update beliefs.
  • metric::NearestNeighbors.MinkowskiMetric: The metric used to measure distances between beliefs.

It must be a Minkowski metric.

  • n::Integer: The number of belief expansions to perform.

Constructors

BeliefExpansionSampler(pomdp::POMDP; updater::Updater=DiscreteUpdater(pomdp),
+metric::NearestNeighbors.MinkowskiMetric=Euclidean(), n::Integer=3)

Methods

(s::BeliefExpansionSampler)(pomdp::POMDP)

Creates an initial belief and performs exploratory belief expansion. Returns the unique belief states. Only works for POMDPs with discrete state, action, and observation spaces.

Example Usage

julia> pomdp = TigerPOMDP();
+julia> sampler = BeliefExpansionSampler(pomdp; n=2);
+julia> beliefs = sampler(pomdp)
+Set{DiscreteBelief{TigerPOMDP, Bool}} with 4 elements:
+  DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.15000000000000002, 0.85])
+  DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])
+  DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.85, 0.15000000000000002])
+  DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.9697986577181208, 0.030201342281879207])
source

Policy Sampler

CompressedBeliefMDPs.PolicySampler — Type
PolicySampler

Samples belief states by rolling out a Policy.

Fields

  • policy::Policy: The policy used for decision making.
  • updater::Updater: The updater used for updating beliefs.
  • n::Integer: The maximum number of simulated steps.
  • rng::AbstractRNG: The random number generator used for sampling.
  • verbose::Bool: Whether to use a progress bar while sampling.

Constructors

PolicySampler(pomdp::POMDP; policy::Policy=RandomPolicy(pomdp), 
+updater::Updater=DiscreteUpdater(pomdp), n::Integer=10, 
+rng::AbstractRNG=Random.GLOBAL_RNG)

Methods

(s::PolicySampler)(pomdp::POMDP)

Returns a vector of unique belief states.

Example

julia> pomdp = TigerPOMDP();
+julia> sampler = PolicySampler(pomdp; n=3); 
+julia> 2-element Vector{Any}:
+DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])
+DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.15000000000000002, 0.85])
source

ExplorationPolicy Sampler

CompressedBeliefMDPs.ExplorationPolicySampler — Type
ExplorationPolicySampler

Samples belief states by rolling out an ExplorationPolicy. Essentially identical to PolicySampler.

Fields

  • explorer::ExplorationPolicy: The ExplorationPolicy used for decision making.
  • on_policy::Policy: The fallback Policy used for decision making when not exploring.
  • updater::Updater: The updater used for updating beliefs.
  • n::Integer: The maximum number of simulated steps.
  • rng::AbstractRNG: The random number generator used for sampling.
  • verbose::Bool: Whether to use a progress bar while sampling.

Constructors

ExplorationPolicySampler(pomdp::POMDP; rng::AbstractRNG=Random.GLOBAL_RNG,
+explorer::ExplorationPolicy=EpsGreedyPolicy(pomdp, 0.1; rng=rng), on_policy=RandomPolicy(pomdp),
+updater::Updater=DiscreteUpdater(pomdp), n::Integer=10)

Methods

(s::ExplorationPolicySampler)(pomdp::POMDP)

Returns a vector of unique belief states.

Example Usage

julia> pomdp = TigerPOMDP()
+julia> sampler = ExplorationPolicySampler(pomdp; n=30)
+julia> sampler(pomdp)
+3-element Vector{Any}:
+ DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])
+ DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.85, 0.15000000000000002])
+ DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.9697986577181208, 0.030201342281879207])
source
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For example, if you wanted to implement your own Compressor, you could write something like this","category":"page"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"struct MyCompressor <: Compressor\n foo\n bar\nend\n\n# functor definition\nfunction (c::MyCompressor)(beliefs)\n # YOUR CODE HERE\n return compressed_beliefs\nend\n\nfunction fit!(c::MyCompressor, beliefs)\n # YOUR CODE HERE\nend","category":"page"},{"location":"compressors/#Implementation-Tips","page":"Compressors","title":"Implementation Tips","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"For robustness, both the functor and fit! should be able to handle AbstractVector and AbstractMatrix inputs. \nfit! is called only once after beliefs are sampled from the POMDP.\nCompressedBeliefSolver will attempt to convert each belief state (often of type DiscreteBelief) into an AbstractArray{Float64} using convert_s. As a convenience, CompressedBeliefMDP implements conversions for commonly used belief types; however, if the POMDP has a custom belief state, then it is the users' responsibility to implement the appropriate conversion. See the source code for help. ","category":"page"},{"location":"compressors/#Implemented-Compressors","page":"Compressors","title":"Implemented Compressors","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"CompressedBeliefMDPs currently provides wrappers for the following compression types:","category":"page"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"a principal component analysis (PCA) compressor,\na kernel PCA compressor,\na probabilistic PCA compressor,\na factor analysis compressor,\nan isomap compressor,\nan autoencoder compressor\na variational auto-encoder (VAE) compressor","category":"page"},{"location":"compressors/#Principal-Component-Analysis-(PCA)","page":"Compressors","title":"Principal Component Analysis (PCA)","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"PCACompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.PCACompressor","page":"Compressors","title":"CompressedBeliefMDPs.PCACompressor","text":"Wrapper for MultivariateStats.PCA.\n\n\n\n\n\n","category":"function"},{"location":"compressors/#Kernel-PCA","page":"Compressors","title":"Kernel PCA","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"KernelPCACompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.KernelPCACompressor","page":"Compressors","title":"CompressedBeliefMDPs.KernelPCACompressor","text":"Wrapper for MultivariateStats.KernelPCA.\n\n\n\n\n\n","category":"function"},{"location":"compressors/#Probabilistic-PCA","page":"Compressors","title":"Probabilistic PCA","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"PPCACompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.PPCACompressor","page":"Compressors","title":"CompressedBeliefMDPs.PPCACompressor","text":"Wrapper for MultivariateStats.PPCA.\n\n\n\n\n\n","category":"function"},{"location":"compressors/#Factor-Analysis","page":"Compressors","title":"Factor Analysis","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"FactorAnalysisCompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.FactorAnalysisCompressor","page":"Compressors","title":"CompressedBeliefMDPs.FactorAnalysisCompressor","text":"Wrapper for MultivariateStats.FactorAnalysis\n\n\n\n\n\n","category":"function"},{"location":"compressors/#Isomap","page":"Compressors","title":"Isomap","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"IsomapCompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.IsomapCompressor","page":"Compressors","title":"CompressedBeliefMDPs.IsomapCompressor","text":"Wrapper for ManifoldLearning.Isomap.\n\n\n\n\n\n","category":"function"},{"location":"compressors/#Autoencoder","page":"Compressors","title":"Autoencoder","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"AutoencoderCompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.AutoencoderCompressor","page":"Compressors","title":"CompressedBeliefMDPs.AutoencoderCompressor","text":"Implements an autoencoder in Flux.\n\n\n\n\n\n","category":"type"},{"location":"compressors/#Variational-Auto-Encoder-(VAE)","page":"Compressors","title":"Variational Auto-Encoder (VAE)","text":"","category":"section"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"VAECompressor","category":"page"},{"location":"compressors/#CompressedBeliefMDPs.VAECompressor","page":"Compressors","title":"CompressedBeliefMDPs.VAECompressor","text":"Implements a VAE in Flux.\n\n\n\n\n\n","category":"type"},{"location":"compressors/","page":"Compressors","title":"Compressors","text":"warning: Warning\nSome compression algorithms aren't optimized for large belief spaces. While they pass our unit tests, they may fail on large POMDPs or without seeding. For large POMDPs, users may want a custom Compressor.","category":"page"},{"location":"circular/#Circular-Maze","page":"Environments","title":"Circular Maze","text":"","category":"section"},{"location":"circular/#Description","page":"Environments","title":"Description","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"This environment is a generalization of the Circular Maze POMDP described in Finding Approximate POMDP solutions Through Belief Compression.[1] The world consists of n_corridor 1D circular corridors that each have corridor_length states. The robot spawns in a random corridor. It must determine which corridor its in, navigate to the proper goal state, and finally declare that it has finished.","category":"page"},{"location":"circular/","page":"Environments","title":"Environments","text":"(Image: )","category":"page"},{"location":"circular/","page":"Environments","title":"Environments","text":"
*Figure from Finding Approximate POMDP solutions Through Belief Compression.
","category":"page"},{"location":"circular/","page":"Environments","title":"Environments","text":"[1]: Roy doesn't actually name his toy environment. For the original environment details, see the \"PCA Performance\" subsection on page 8.","category":"page"},{"location":"circular/#Action-Space","page":"Environments","title":"Action Space","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"Transitions left and right are noisy and non-deterministic. Transition probabilities are from a discrete von Mises distribution with unit concentration and mean at the target state. ","category":"page"},{"location":"circular/","page":"Environments","title":"Environments","text":"Num Action Description\n1 CMAZE_LEFT Move left with von Mises noise.\n2 CMAZE_RIGHT Move right with von Mises noise.\n3 CMAZE_SENSE_CORRIDOR Observe the current corridor.\n4 CMAZE_DECLARE_GOAL Ends the episode. Receive r_findgoal if at the goal.","category":"page"},{"location":"circular/#State-Space","page":"Environments","title":"State Space","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"The (ordered) state space is an array of all CircularMazeStates and a terminalstate: [CircularMaze(1, 1), ..., CircularMaze(n_corridors, corridor_length), TerminalState()].","category":"page"},{"location":"circular/#Observation-Space","page":"Environments","title":"Observation Space","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"The observation space is the union of the state space and 1:n_corridors. If the robot picks CMAZE_SENSE_CORRIDOR, they observe the index of the current corridor. Otherwise, they observe their current state with von Mises noise.","category":"page"},{"location":"circular/#Rewards","page":"Environments","title":"Rewards","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"The goal is to navigate to the correct goal state for the given corridor and then to declare the goal once arrived. If the robot correctly declares the goal, it receives r_findgoal. It incurs a r_timestep_penalty for every timestep it does not reach the goal. By default r_findgoal is 1 and r_timestep_penalty is 0. ","category":"page"},{"location":"circular/#Starting-State","page":"Environments","title":"Starting State","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"The initial state is sampled from a repeated, discrete von Mises distribution each with a concentration at the center of the hallway. ","category":"page"},{"location":"circular/","page":"Environments","title":"Environments","text":"(Image: )","category":"page"},{"location":"circular/#Episode-End","page":"Environments","title":"Episode End","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"The episode terminates once the robot declares the goal CMAZE_DECLARE_GOAL regardless of whether the robot is correct.","category":"page"},{"location":"circular/#Documentation","page":"Environments","title":"Documentation","text":"","category":"section"},{"location":"circular/","page":"Environments","title":"Environments","text":"CircularMaze","category":"page"},{"location":"circular/#CompressedBeliefMDPs.CircularMaze","page":"Environments","title":"CompressedBeliefMDPs.CircularMaze","text":"CircularMaze(n_corridors::Integer, corridor_length::Integer, discount::Float64, r_findgoal::Float64, r_timestep_penalty::Float64)\nCircularMaze(n_corridors::Integer, corridor_length::Integer; kwargs...)\nCircularMaze()\n\nA POMDP representing a circular maze environment.\n\nFields\n\nn_corridors::Integer: Number of corridors in the circular maze.\ncorridor_length::Integer: Length of each corridor.\nprobabilities::AbstractArray: Probability masses for creating von Mises distributions.\ncenter::Integer: The central position in the maze.\ndiscount::Float64: Discount factor for future rewards.\nr_findgoal::Float64: Reward for finding the goal.\nr_timestep_penalty::Float64: Penalty for each timestep taken.\nstates::AbstractArray: Array of all possible states in the maze.\ngoals::AbstractArray: Array of goal states in the maze.\n\nExample\n\nusing CompressedBeliefMDPs\n\nn_corridors = 8\ncorridor_length = 25\nmaze = CircularMaze(n_corridors, corridor_length)\n\n\n\n\n\n","category":"type"},{"location":"circular/","page":"Environments","title":"Environments","text":"CircularMazeState","category":"page"},{"location":"circular/#CompressedBeliefMDPs.CircularMazeState","page":"Environments","title":"CompressedBeliefMDPs.CircularMazeState","text":"CircularMazeState(corridor::Integer, x::Integer)\n\nThe CircularMazeState struct represents the state of an agent in a circular maze.\n\nFields\n\ncorridor::Integer: The corridor number. The value ranges from 1 to n_corridors.\nx::Integer: The position of the state within the corridor. The value ranges from 1 to the corridor_length.\n\n\n\n\n\n","category":"type"},{"location":"#CompressedBeliefMDPs.jl","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"","category":"section"},{"location":"#Introduction","page":"CompressedBeliefMDPs.jl","title":"Introduction","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"Welcome to CompressedBeliefMDPs.jl! This package is part of the POMDPs.jl ecosystem and takes inspiration from Exponential Family PCA for Belief Compression in POMDPs. ","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"This package provides a general framework for applying belief compression in large POMDPs with generic compression, sampling, and planning algorithms.","category":"page"},{"location":"#Installation","page":"CompressedBeliefMDPs.jl","title":"Installation","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"You can install CompressedBeliefMDPs.jl using Julia's package manager. Open the Julia REPL (press ] to enter the package manager mode) and run the following command:","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"pkg> add CompressedBeliefMDPs","category":"page"},{"location":"#Quickstart","page":"CompressedBeliefMDPs.jl","title":"Quickstart","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"Using belief compression is easy. Simplify pick a Sampler, Compressor, and a base Policy and then use the standard POMDPs.jl interface.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"using POMDPs, POMDPTools, POMDPModels\nusing CompressedBeliefMDPs\n\npomdp = BabyPOMDP()\ncompressor = PCACompressor(1)\nupdater = DiscreteUpdater(pomdp)\nsampler = BeliefExpansionSampler(pomdp)\nsolver = CompressedBeliefSolver(\n pomdp;\n compressor=compressor,\n sampler=sampler,\n updater=updater,\n verbose=true, \n max_iterations=100, \n n_generative_samples=50, \n k=2\n)\npolicy = solve(solver, pomdp)","category":"page"},{"location":"#Continuous-Example","page":"CompressedBeliefMDPs.jl","title":"Continuous Example","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"This example demonstrates using CompressedBeliefMDP in a continuous setting with the LightDark1D POMDP. It combines particle filters for belief updating and Monte Carlo Tree Search (MCTS) as the solver. While compressing a 1D space is trivial toy problem, this architecture can be easily scaled to larger POMDPs with continuous state and action spaces.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"using POMDPs, POMDPModels, POMDPTools\nusing ParticleFilters\nusing MCTS\nusing CompressedBeliefMDPs\n\npomdp = LightDark1D()\npomdp.movement_cost = 1\nbase_solver = MCTSSolver(n_iterations=10, depth=50, exploration_constant=5.0)\nupdater = BootstrapFilter(pomdp, 100)\nsolver = CompressedBeliefSolver(\n pomdp,\n base_solver;\n updater=updater,\n sampler=PolicySampler(pomdp; updater=updater)\n)\npolicy = solve(solver, pomdp)\nrs = RolloutSimulator(max_steps=50)\nr = simulate(rs, pomdp, policy)","category":"page"},{"location":"#Continuous-Example-2","page":"CompressedBeliefMDPs.jl","title":"Continuous Example","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"This example demonstrates using CompressedBeliefMDP in a continuous setting with the LightDark1D POMDP. It combines particle filters for belief updating and Monte Carlo Tree Search (MCTS) as the solver. While compressing a 1D space is trivial toy problem, this architecture can be easily scaled to larger POMDPs with continuous state and action spaces.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"using POMDPs, POMDPModels, POMDPTools\nusing ParticleFilters\nusing MCTS\nusing CompressedBeliefMDPs\n\npomdp = LightDark1D()\npomdp.movement_cost = 1\nbase_solver = MCTSSolver(n_iterations=10, depth=50, exploration_constant=5.0)\nupdater = BootstrapFilter(pomdp, 100)\nsolver = CompressedBeliefSolver(\n pomdp,\n base_solver;\n updater=updater,\n sampler=PolicySampler(pomdp; updater=updater)\n)\npolicy = solve(solver, pomdp)\nrs = RolloutSimulator(max_steps=50)\nr = simulate(rs, pomdp, policy)","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"Note: We use MCTS here as a proof of concept that CompressedBeliefMDPs can handle continuous state and action spaces. In reality, belief compression has no effect on MCTS with double progressive widening. If you want to solve continuous POMDPs, we suggest implementing a custom solver or looking into Crux.jl.","category":"page"},{"location":"#Large-Example","page":"CompressedBeliefMDPs.jl","title":"Large Example","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"In this example, we tackle a more realistic scenario with the TMaze POMDP, which has 123 states. To handle the larger state space efficiently, we employ a variational auto-encoder (VAE) to compress the belief simplex. By leveraging the VAE's ability to learn a compact representation of the belief state, we focus computational power on the relevant compressed belief states during each Bellman update.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"using POMDPs, POMDPModels, POMDPTools\nusing CompressedBeliefMDPs\n\npomdp = TMaze(60, 0.9)\nsolver = CompressedBeliefSolver(\n pomdp;\n compressor=VAECompressor(123, 6; hidden_dim=10, verbose=true, epochs=2),\n sampler=PolicySampler(pomdp, n=500),\n verbose=true, \n max_iterations=1000, \n n_generative_samples=30,\n k=2\n)\npolicy = solve(solver, pomdp)\nrs = RolloutSimulator(max_steps=50)\nr = simulate(rs, pomdp, policy)","category":"page"},{"location":"#Concepts-and-Architecture","page":"CompressedBeliefMDPs.jl","title":"Concepts and Architecture","text":"","category":"section"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"CompressedBeliefMDPs.jl aims to implement a generalization of the belief compression algorithm for solving large POMDPs. The algorithm has four steps:","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"collect belief samples,\ncompress the samples,\ncreate the compressed belief-state MDP,\nsolve the MDP.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"Each step is handled by Sampler, Compressor, CompressedBeliefMDP, and CompressedBeliefSolver respectively.","category":"page"},{"location":"","page":"CompressedBeliefMDPs.jl","title":"CompressedBeliefMDPs.jl","text":"For more details, please see the rest of the documentation or the associated paper.","category":"page"},{"location":"samplers/#Samplers","page":"Samplers","title":"Samplers","text":"","category":"section"},{"location":"samplers/#Defining-a-Sampler","page":"Samplers","title":"Defining a Sampler","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"In this section, we outline the requirements and guidelines for defining a belief Sampler.","category":"page"},{"location":"samplers/#Interface","page":"Samplers","title":"Interface","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"The Sampler interface only has one method: the functor. For example, if you wanted to implement your own Sampler, you could write something like this","category":"page"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"struct MySampler <: Compressor\n foo\n bar\nend\n\n# functor definition\nfunction (c::MySampler)(pomdp::POMDP)\n # YOUR CODE HERE\n return sampled_beliefs\nend","category":"page"},{"location":"samplers/#Implemented-Sampler","page":"Samplers","title":"Implemented Sampler","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"CompressedBeliefMDPs provides the following generic belief samplers:","category":"page"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"an exploratory belief expansion sampler\na Policy rollout sampler\nan ExplorationPolicy rollout sampler","category":"page"},{"location":"samplers/#Exploratory-Belief-Expansion","page":"Samplers","title":"Exploratory Belief Expansion","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"BeliefExpansionSampler","category":"page"},{"location":"samplers/#CompressedBeliefMDPs.BeliefExpansionSampler","page":"Samplers","title":"CompressedBeliefMDPs.BeliefExpansionSampler","text":"BeliefExpansionSampler\n\nFast extension of exploratory belief expansion (Algorithm 21.13 in Algorithms for Decision Making) that uses k-d trees.\n\nFields\n\nupdater::Updater: The updater used to update beliefs.\nmetric::NearestNeighbors.MinkowskiMetric: The metric used to measure distances between beliefs.\n\nIt must be a Minkowski metric.\n\nn::Integer: The number of belief expansions to perform.\n\nConstructors\n\nBeliefExpansionSampler(pomdp::POMDP; updater::Updater=DiscreteUpdater(pomdp),\nmetric::NearestNeighbors.MinkowskiMetric=Euclidean(), n::Integer=3)\n\nMethods\n\n(s::BeliefExpansionSampler)(pomdp::POMDP)\n\nCreates an initial belief and performs exploratory belief expansion. Returns the unique belief states. Only works for POMDPs with discrete state, action, and observation spaces.\n\nExample Usage\n\njulia> pomdp = TigerPOMDP();\njulia> sampler = BeliefExpansionSampler(pomdp; n=2);\njulia> beliefs = sampler(pomdp)\nSet{DiscreteBelief{TigerPOMDP, Bool}} with 4 elements:\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.15000000000000002, 0.85])\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.85, 0.15000000000000002])\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.9697986577181208, 0.030201342281879207])\n\n\n\n\n\n","category":"type"},{"location":"samplers/#Policy-Sampler","page":"Samplers","title":"Policy Sampler","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"PolicySampler","category":"page"},{"location":"samplers/#CompressedBeliefMDPs.PolicySampler","page":"Samplers","title":"CompressedBeliefMDPs.PolicySampler","text":"PolicySampler\n\nSamples belief states by rolling out a Policy.\n\nFields\n\npolicy::Policy: The policy used for decision making.\nupdater::Updater: The updater used for updating beliefs.\nn::Integer: The maximum number of simulated steps.\nrng::AbstractRNG: The random number generator used for sampling.\nverbose::Bool: Whether to use a progress bar while sampling.\n\nConstructors\n\nPolicySampler(pomdp::POMDP; policy::Policy=RandomPolicy(pomdp), \nupdater::Updater=DiscreteUpdater(pomdp), n::Integer=10, \nrng::AbstractRNG=Random.GLOBAL_RNG)\n\nMethods\n\n(s::PolicySampler)(pomdp::POMDP)\n\nReturns a vector of unique belief states.\n\nExample\n\njulia> pomdp = TigerPOMDP();\njulia> sampler = PolicySampler(pomdp; n=3); \njulia> 2-element Vector{Any}:\nDiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])\nDiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.15000000000000002, 0.85])\n\n\n\n\n\n","category":"type"},{"location":"samplers/#ExplorationPolicy-Sampler","page":"Samplers","title":"ExplorationPolicy Sampler","text":"","category":"section"},{"location":"samplers/","page":"Samplers","title":"Samplers","text":"ExplorationPolicySampler","category":"page"},{"location":"samplers/#CompressedBeliefMDPs.ExplorationPolicySampler","page":"Samplers","title":"CompressedBeliefMDPs.ExplorationPolicySampler","text":"ExplorationPolicySampler\n\nSamples belief states by rolling out an ExplorationPolicy. Essentially identical to PolicySampler.\n\nFields\n\nexplorer::ExplorationPolicy: The ExplorationPolicy used for decision making.\non_policy::Policy: The fallback Policy used for decision making when not exploring.\nupdater::Updater: The updater used for updating beliefs.\nn::Integer: The maximum number of simulated steps.\nrng::AbstractRNG: The random number generator used for sampling.\nverbose::Bool: Whether to use a progress bar while sampling.\n\nConstructors\n\nExplorationPolicySampler(pomdp::POMDP; rng::AbstractRNG=Random.GLOBAL_RNG,\nexplorer::ExplorationPolicy=EpsGreedyPolicy(pomdp, 0.1; rng=rng), on_policy=RandomPolicy(pomdp),\nupdater::Updater=DiscreteUpdater(pomdp), n::Integer=10)\n\nMethods\n\n(s::ExplorationPolicySampler)(pomdp::POMDP)\n\nReturns a vector of unique belief states.\n\nExample Usage\n\njulia> pomdp = TigerPOMDP()\njulia> sampler = ExplorationPolicySampler(pomdp; n=30)\njulia> sampler(pomdp)\n3-element Vector{Any}:\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.5, 0.5])\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.85, 0.15000000000000002])\n DiscreteBelief{TigerPOMDP, Bool}(TigerPOMDP(-1.0, -100.0, 10.0, 0.85, 0.95), Bool[0, 1], [0.9697986577181208, 0.030201342281879207])\n\n\n\n\n\n","category":"type"}] +} diff --git a/v1.1.0/siteinfo.js b/v1.1.0/siteinfo.js new file mode 100644 index 0000000..56f7df5 --- /dev/null +++ b/v1.1.0/siteinfo.js @@ -0,0 +1 @@ +var DOCUMENTER_CURRENT_VERSION = "v1.1.0"; diff --git a/versions.js b/versions.js index 52fdd0c..f5877c9 100644 --- a/versions.js +++ b/versions.js @@ -1,7 +1,8 @@ var DOC_VERSIONS = [ "stable", + "v1.1", "v1.0", "dev", ]; -var DOCUMENTER_NEWEST = "v1.0.0"; +var DOCUMENTER_NEWEST = "v1.1.0"; var DOCUMENTER_STABLE = "stable";