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<!DOCTYPE html>
<html lang="en"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><title>Implemented Belief Updaters · POMDPs.jl</title><meta name="title" content="Implemented Belief Updaters · POMDPs.jl"/><meta property="og:title" content="Implemented Belief Updaters · POMDPs.jl"/><meta property="twitter:title" content="Implemented Belief Updaters · POMDPs.jl"/><meta name="description" content="Documentation for POMDPs.jl."/><meta property="og:description" content="Documentation for POMDPs.jl."/><meta property="twitter:description" content="Documentation for POMDPs.jl."/><script data-outdated-warner src="../../assets/warner.js"></script><link href="https://cdnjs.cloudflare.com/ajax/libs/lato-font/3.0.0/css/lato-font.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/juliamono/0.050/juliamono.min.css" rel="stylesheet" type="text/css"/><link 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rel="stylesheet" type="text/css" href="../../assets/themes/documenter-light.css" data-theme-name="documenter-light" data-theme-primary/><script src="../../assets/themeswap.js"></script></head><body><div id="documenter"><nav class="docs-sidebar"><a class="docs-logo" href="../../"><img src="../../assets/logo.png" alt="POMDPs.jl logo"/></a><div class="docs-package-name"><span class="docs-autofit"><a href="../../">POMDPs.jl</a></span></div><button class="docs-search-query input is-rounded is-small is-clickable my-2 mx-auto py-1 px-2" id="documenter-search-query">Search docs (Ctrl + /)</button><ul class="docs-menu"><li><span class="tocitem">Basics</span><ul><li><a class="tocitem" href="../../">POMDPs.jl</a></li><li><a class="tocitem" href="../../install/">Installation</a></li><li><a class="tocitem" href="../../get_started/">Getting Started</a></li><li><a class="tocitem" href="../../concepts/">Concepts and Architecture</a></li></ul></li><li><span class="tocitem">Defining (PO)MDP Models</span><ul><li><a class="tocitem" href="../../def_pomdp/">Defining POMDPs and MDPs</a></li><li><a class="tocitem" href="../../interfaces/">Spaces and Distributions</a></li></ul></li><li><span class="tocitem">Writing Solvers</span><ul><li><a class="tocitem" href="../../def_solver/">Solvers</a></li><li><a class="tocitem" href="../../offline_solver/">Example: Defining an offline solver</a></li><li><a class="tocitem" href="../../online_solver/">Example: Defining an online solver</a></li></ul></li><li><span class="tocitem">Writing Belief Updaters</span><ul><li><a class="tocitem" href="../../def_updater/">Defining a Belief Updater</a></li></ul></li><li><span class="tocitem">Analyzing Results</span><ul><li><a class="tocitem" href="../../simulation/">Simulation Standard</a></li><li><a class="tocitem" href="../../run_simulation/">Running Simulations</a></li><li><a class="tocitem" href="../../policy_interaction/">Interacting with Policies</a></li></ul></li><li><span class="tocitem">POMDPTools</span><ul><li><a class="tocitem" href="../">POMDPTools: the standard library for POMDPs.jl</a></li><li><a class="tocitem" href="../distributions/">Implemented Distributions</a></li><li><a class="tocitem" href="../model/">Model Tools</a></li><li><a class="tocitem" href="../visualization/">Visualization</a></li><li class="is-active"><a class="tocitem" href>Implemented Belief Updaters</a><ul class="internal"><li><a class="tocitem" href="#Discrete-(Bayesian-Filter)"><span>Discrete (Bayesian Filter)</span></a></li><li><a class="tocitem" href="#K-Previous-Observations"><span>K Previous Observations</span></a></li><li><a class="tocitem" href="#Previous-Observation"><span>Previous Observation</span></a></li><li><a class="tocitem" href="#Nothing-Updater"><span>Nothing Updater</span></a></li></ul></li><li><a class="tocitem" href="../policies/">Implemented Policies</a></li><li><a class="tocitem" href="../simulators/">Implemented Simulators</a></li><li><a class="tocitem" href="../common_rl/">CommonRLInterface Integration</a></li><li><a class="tocitem" href="../testing/">Testing</a></li></ul></li><li><a class="tocitem" href="../../faq/">Frequently Asked Questions (FAQ)</a></li><li><a class="tocitem" href="../../api/">API Documentation</a></li></ul><div class="docs-version-selector field has-addons"><div class="control"><span class="docs-label button is-static is-size-7">Version</span></div><div class="docs-selector control is-expanded"><div class="select is-fullwidth is-size-7"><select id="documenter-version-selector"></select></div></div></div></nav><div class="docs-main"><header class="docs-navbar"><a class="docs-sidebar-button docs-navbar-link fa-solid fa-bars is-hidden-desktop" id="documenter-sidebar-button" href="#"></a><nav class="breadcrumb"><ul class="is-hidden-mobile"><li><a class="is-disabled">POMDPTools</a></li><li class="is-active"><a href>Implemented Belief Updaters</a></li></ul><ul class="is-hidden-tablet"><li class="is-active"><a href>Implemented Belief Updaters</a></li></ul></nav><div class="docs-right"><a class="docs-navbar-link" href="https://github.com/JuliaPOMDP/POMDPs.jl" title="View the repository on GitHub"><span class="docs-icon fa-brands"></span><span class="docs-label is-hidden-touch">GitHub</span></a><a class="docs-navbar-link" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/master/docs/src/POMDPTools/beliefs.md" title="Edit source on GitHub"><span class="docs-icon fa-solid"></span></a><a class="docs-settings-button docs-navbar-link fa-solid fa-gear" id="documenter-settings-button" href="#" title="Settings"></a><a class="docs-article-toggle-button fa-solid fa-chevron-up" id="documenter-article-toggle-button" href="javascript:;" title="Collapse all docstrings"></a></div></header><article class="content" id="documenter-page"><h1 id="Implemented-Belief-Updaters"><a class="docs-heading-anchor" href="#Implemented-Belief-Updaters">Implemented Belief Updaters</a><a id="Implemented-Belief-Updaters-1"></a><a class="docs-heading-anchor-permalink" href="#Implemented-Belief-Updaters" title="Permalink"></a></h1><p>POMDPTools provides the following generic belief updaters:</p><ul><li>a discrete belief updater</li><li>a k previous observation updater</li><li>a previous observation updater </li><li>a nothing updater (for when the policy does not depend on any feedback)</li></ul><p>For particle filters see <a href="https://github.com/JuliaPOMDP/ParticleFilters.jl">ParticleFilters.jl</a>.</p><h2 id="Discrete-(Bayesian-Filter)"><a class="docs-heading-anchor" href="#Discrete-(Bayesian-Filter)">Discrete (Bayesian Filter)</a><a id="Discrete-(Bayesian-Filter)-1"></a><a class="docs-heading-anchor-permalink" href="#Discrete-(Bayesian-Filter)" title="Permalink"></a></h2><p>The <code>DiscreteUpater</code> is a default implementation of a discrete Bayesian filter. The <code>DiscreteBelief</code> type is provided to represent discrete beliefs for discrete state POMDPs. </p><p>A convenience function <code>uniform_belief</code> is provided to create a <code>DiscreteBelief</code> with equal probability for each state. </p><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.DiscreteBelief" href="#POMDPTools.BeliefUpdaters.DiscreteBelief"><code>POMDPTools.BeliefUpdaters.DiscreteBelief</code></a> — <span class="docstring-category">Type</span></header><section><div><pre><code class="language-julia hljs">DiscreteBelief</code></pre><p>A belief specified by a probability vector.</p><p>Normalization of <code>b</code> is assumed in some calculations (e.g. pdf), but it is only automatically enforced in <code>update(...)</code>, and a warning is given if normalized incorrectly in <code>DiscreteBelief(pomdp, b)</code>.</p><p><strong>Constructor</strong></p><pre><code class="nohighlight hljs">DiscreteBelief(pomdp, b::Vector{Float64}; check::Bool=true)</code></pre><p><strong>Fields</strong></p><ul><li><code>pomdp</code> : the POMDP problem </li><li><code>state_list</code> : a vector of ordered states</li><li><code>b</code> : the probability vector </li></ul></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/discrete.jl#L6-L20">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.DiscreteUpdater" href="#POMDPTools.BeliefUpdaters.DiscreteUpdater"><code>POMDPTools.BeliefUpdaters.DiscreteUpdater</code></a> — <span class="docstring-category">Type</span></header><section><div><pre><code class="language-julia hljs">DiscreteUpdater</code></pre><p>An updater type to update discrete belief using the discrete Bayesian filter.</p><p><strong>Constructor</strong></p><pre><code class="nohighlight hljs">DiscreteUpdater(pomdp::POMDP)</code></pre><p><strong>Fields</strong></p><ul><li><code>pomdp &lt;: POMDP</code></li></ul></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/discrete.jl#L82-L92">source</a></section></article><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.uniform_belief-Tuple{Any}" href="#POMDPTools.BeliefUpdaters.uniform_belief-Tuple{Any}"><code>POMDPTools.BeliefUpdaters.uniform_belief</code></a> — <span class="docstring-category">Method</span></header><section><div><pre><code class="language-julia hljs"> uniform_belief(pomdp)</code></pre><p>Return a DiscreteBelief with equal probability for each state.</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/discrete.jl#L48-L52">source</a></section></article><h2 id="K-Previous-Observations"><a class="docs-heading-anchor" href="#K-Previous-Observations">K Previous Observations</a><a id="K-Previous-Observations-1"></a><a class="docs-heading-anchor-permalink" href="#K-Previous-Observations" title="Permalink"></a></h2><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.KMarkovUpdater" href="#POMDPTools.BeliefUpdaters.KMarkovUpdater"><code>POMDPTools.BeliefUpdaters.KMarkovUpdater</code></a> — <span class="docstring-category">Type</span></header><section><div><pre><code class="language-julia hljs">KMarkovUpdater</code></pre><p>Updater that stores the k most recent observations as the belief.</p><p>Example:</p><pre><code class="language-julia hljs">up = KMarkovUpdater(5)
s0 = rand(rng, initialstate(pomdp))
initial_observation = rand(rng, initialobs(pomdp, s0))
initial_obs_vec = fill(initial_observation, 5)
hr = HistoryRecorder(rng=rng, max_steps=100)
hist = simulate(hr, pomdp, policy, up, initial_obs_vec, s0)</code></pre></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/k_previous_observations.jl#L1-L16">source</a></section></article><h2 id="Previous-Observation"><a class="docs-heading-anchor" href="#Previous-Observation">Previous Observation</a><a id="Previous-Observation-1"></a><a class="docs-heading-anchor-permalink" href="#Previous-Observation" title="Permalink"></a></h2><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.PreviousObservationUpdater" href="#POMDPTools.BeliefUpdaters.PreviousObservationUpdater"><code>POMDPTools.BeliefUpdaters.PreviousObservationUpdater</code></a> — <span class="docstring-category">Type</span></header><section><div><p>Updater that stores the most recent observation as the belief. If an initial distribution is provided, it will pass that as the initial belief.</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/previous_observation.jl#L6-L8">source</a></section></article><h2 id="Nothing-Updater"><a class="docs-heading-anchor" href="#Nothing-Updater">Nothing Updater</a><a id="Nothing-Updater-1"></a><a class="docs-heading-anchor-permalink" href="#Nothing-Updater" title="Permalink"></a></h2><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="POMDPTools.BeliefUpdaters.NothingUpdater" href="#POMDPTools.BeliefUpdaters.NothingUpdater"><code>POMDPTools.BeliefUpdaters.NothingUpdater</code></a> — <span class="docstring-category">Type</span></header><section><div><p>An updater useful for when a belief is not necessary (i.e. for a random policy). <code>update</code> always returns <code>nothing</code>.</p></div><a class="docs-sourcelink" target="_blank" href="https://github.com/JuliaPOMDP/POMDPs.jl/blob/433b08d724107ad0bb4f70477b1157cb0962263e/lib/POMDPTools/src/BeliefUpdaters/void.jl#L4-L6">source</a></section></article></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../visualization/">« Visualization</a><a class="docs-footer-nextpage" href="../policies/">Implemented Policies »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="auto">Automatic (OS)</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.1.1 on <span class="colophon-date" title="Sunday 22 October 2023 18:53">Sunday 22 October 2023</span>. Using Julia version 1.9.3.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
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