def main():
init_state = generate_random_state()
init_belief = generate_init_belief(num_particles=100)
load_unload_problem = LoadUnloadProblem(init_state, init_belief)
print("** Testing POMCP **")
pomcp = pomdp_py.POMCP(max_depth=100, discount_factor=0.95,
num_sims=100, exploration_const=110,
rollout_policy=load_unload_problem.agent.policy_model)
test_planner(load_unload_problem, pomcp, nsteps=100)
def main():
init_true_state = random.choice(
[State("tiger-left"), State("tiger-right")])
init_belief = pomdp_py.Histogram({
State("tiger-left"): 0.5,
State("tiger-right"): 0.5
})
tiger_problem = TigerProblem(
0.15, # observation noise
init_true_state,
init_belief)
print("** Testing value iteration **")
vi = pomdp_py.ValueIteration(horizon=3, discount_factor=0.95)
test_planner(tiger_problem, vi, nsteps=3)
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
print("\n** Testing POUCT **")
pouct = pomdp_py.POUCT(max_depth=3,
discount_factor=0.95,
num_sims=4096,
exploration_const=200,
rollout_policy=tiger_problem.agent.policy_model)
test_planner(tiger_problem, pouct, nsteps=10)
pomdp_py.visual.visualize_pouct_search_tree(tiger_problem.agent.tree,
max_depth=5,
anonymize=False)
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
tiger_problem.agent.tree = None
print("** Testing POMCP **")
tiger_problem.agent.set_belief(pomdp_py.Particles.from_histogram(
init_belief, num_particles=100),
prior=True)
pomcp = pomdp_py.POMCP(max_depth=3,
discount_factor=0.95,
num_sims=1000,
exploration_const=200,
rollout_policy=tiger_problem.agent.policy_model)
test_planner(tiger_problem, pomcp, nsteps=10)
pomdp_py.visual.visualize_pouct_search_tree(tiger_problem.agent.tree,
max_depth=5,
anonymize=False)
def main():
init_true_state = random.choice(
[TigerState("tiger-left"),
TigerState("tiger-right")])
init_belief = pomdp_py.Histogram({
TigerState("tiger-left"): 0.5,
TigerState("tiger-right"): 0.5
})
tiger_problem = TigerProblem(
0.15, # observation noise
init_true_state,
init_belief)
print("** Testing value iteration **")
vi = pomdp_py.ValueIteration(horizon=3, discount_factor=0.95)
test_planner(tiger_problem, vi, nsteps=3)
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
print("\n** Testing POUCT **")
pouct = pomdp_py.POUCT(max_depth=3,
discount_factor=0.95,
num_sims=4096,
exploration_const=50,
rollout_policy=tiger_problem.agent.policy_model,
show_progress=True)
test_planner(tiger_problem, pouct, nsteps=10)
TreeDebugger(tiger_problem.agent.tree).pp
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
tiger_problem.agent.tree = None
print("** Testing POMCP **")
tiger_problem.agent.set_belief(pomdp_py.Particles.from_histogram(
init_belief, num_particles=100),
prior=True)
pomcp = pomdp_py.POMCP(max_depth=3,
discount_factor=0.95,
num_sims=1000,
exploration_const=50,
rollout_policy=tiger_problem.agent.policy_model,
show_progress=True,
pbar_update_interval=500)
test_planner(tiger_problem, pomcp, nsteps=10)
TreeDebugger(tiger_problem.agent.tree).pp
def main():
n, k = 5, 5
init_state, rock_locs = RockSampleProblem.generate_instance(n, k)
# # For debugging purpose
# n, k = 2,2
# rover_position = (0, 0)
# rock_locs = {} # map from rock location to rock id
# rock_locs[(0,1)] = 0
# rock_locs[(1,1)] = 1
# rocktypes = ('good', 'good')
# Ground truth state
# init_state = State(rover_position, rocktypes, False)
# belief = "uniform"
belief = "uniform"
init_state_copy = copy.deepcopy(init_state)
# init belief (uniform), represented in particles;
# We don't factor the state here; We are also not doing any action prior.
init_belief = init_particles_belief(k, 200, init_state, belief=belief)
rocksample = RockSampleProblem(n, k, init_state, rock_locs, init_belief)
rocksample.print_state()
print("*** Testing POMCP ***")
pomcp = pomdp_py.POMCP(max_depth=20,
discount_factor=0.95,
num_sims=10000,
exploration_const=20,
rollout_policy=rocksample.agent.policy_model,
num_visits_init=1)
tt, ttd = test_planner(rocksample, pomcp, nsteps=100, discount=0.95)
rocksample.env.state.position = init_state_copy.position
rocksample.env.state.rocktypes = init_state_copy.rocktypes
rocksample.env.state.terminal = False
init_belief = init_particles_belief(k,
200,
rocksample.env.state,
belief=belief)
rocksample.agent.set_belief(init_belief)
# init_state = State(rover_position, rocktypes, False)
# belief = "uniform"
belief = "uniform"
init_state_copy = copy.deepcopy(init_state)
# init belief (uniform), represented in particles;
# We don't factor the state here; We are also not doing any action prior.
init_belief = init_particles_belief(200, init_state, belief=belief)
rocksample = RockSampleProblem(n, k, init_state, rock_locs, init_belief)
rocksample.print_state()
print("*** Testing POMCP ***")
pomcp = pomdp_py.POMCP(max_depth=6,
discount_factor=0.95,
num_sims=20000,
exploration_const=20,
rollout_policy=rocksample.agent.policy_model,
num_visits_init=1)
tt, ttd = test_planner(rocksample, pomcp, nsteps=100, discount=0.95)
rocksample.env.state.position = init_state_copy.position
rocksample.env.state.rocktypes = init_state_copy.rocktypes
rocksample.env.state.terminal = False
init_belief = init_particles_belief(200,
rocksample.env.state,
belief=belief)
rocksample.agent.set_belief(init_belief)
def solve(
problem,
max_depth=10, # planning horizon
discount_factor=0.99,
planning_time=1., # amount of time (s) to plan each step
exploration_const=1000, # exploration constant
visualize=True,
max_time=120, # maximum amount of time allowed to solve the problem
max_steps=500): # maximum number of planning steps the agent can take.
"""
This function terminates when:
- maximum time (max_time) reached; This time includes planning and updates
- agent has planned `max_steps` number of steps
- agent has taken n FindAction(s) where n = number of target objects.
Args:
visualize (bool) if True, show the pygame visualization.
"""
random_objid = random.sample(problem.env.target_objects, 1)[0]
random_object_belief = problem.agent.belief.object_beliefs[random_objid]
if isinstance(random_object_belief, pomdp_py.Histogram):
# Use POUCT
planner = pomdp_py.POUCT(
max_depth=max_depth,
discount_factor=discount_factor,
planning_time=planning_time,
exploration_const=exploration_const,
rollout_policy=problem.agent.policy_model) # Random by default
elif isinstance(random_object_belief, pomdp_py.Particles):
# Use POMCP
planner = pomdp_py.POMCP(
max_depth=max_depth,
discount_factor=discount_factor,
planning_time=planning_time,
exploration_const=exploration_const,
rollout_policy=problem.agent.policy_model) # Random by default
else:
raise ValueError("Unsupported object belief type %s" %
str(type(random_object_belief)))
robot_id = problem.agent.robot_id
if visualize:
viz = MosViz(problem.env, controllable=False
) # controllable=False means no keyboard control.
if viz.on_init() == False:
raise Exception("Environment failed to initialize")
viz.update(robot_id, None, None, None, problem.agent.cur_belief)
viz.on_render()
_time_used = 0
_find_actions_count = 0
_total_reward = 0 # total, undiscounted reward
for i in range(max_steps):
# Plan action
_start = time.time()
real_action = planner.plan(problem.agent)
_time_used += time.time() - _start
if _time_used > max_time:
break # no more time to update.
# Execute action
reward = problem.env.state_transition(real_action,
execute=True,
robot_id=robot_id)
# Receive observation
_start = time.time()
real_observation = \
problem.env.provide_observation(problem.agent.observation_model, real_action)
# Updates
problem.agent.clear_history() # truncate history
problem.agent.update_history(real_action, real_observation)
belief_update(problem.agent, real_action, real_observation,
problem.env.state.object_states[robot_id], planner)
_time_used += time.time() - _start
# Info and render
_total_reward += reward
if isinstance(real_action, FindAction):
_find_actions_count += 1
print("==== Step %d ====" % (i + 1))
print("Action: %s" % str(real_action))
print("Observation: %s" % str(real_observation))
print("Reward: %s" % str(reward))
print("Reward (Cumulative): %s" % str(_total_reward))
print("Find Actions Count: %d" % _find_actions_count)
if isinstance(planner, pomdp_py.POUCT):
print("__num_sims__: %d" % planner.last_num_sims)
if visualize:
# This is used to show the sensing range; Not sampled
# according to observation model.
robot_pose = problem.env.state.object_states[robot_id].pose
viz_observation = MosOOObservation({})
if isinstance(real_action, LookAction) or isinstance(
real_action, FindAction):
viz_observation = \
problem.env.sensors[robot_id].observe(robot_pose,
problem.env.state)
viz.update(robot_id, real_action, real_observation,
viz_observation, problem.agent.cur_belief)
viz.on_loop()
viz.on_render()
# Termination check
if set(problem.env.state.object_states[robot_id].objects_found)\
== problem.env.target_objects:
print("Done!")
break
if _find_actions_count >= len(problem.env.target_objects):
print("FindAction limit reached.")
break
if _time_used > max_time:
print("Maximum time reached.")
break
def solve(
problem,
planner_type="pouct",
max_depth=10, # planning horizon
discount_factor=0.99,
planning_time=1., # amount of time (s) to plan each step
exploration_const=1000, # exploration constant
visualize=True,
max_time=120, # maximum amount of time allowed to solve the problem
max_steps=500): # maximum number of planning steps the agent can take.
if planner_type == "pouct":
planner = pomdp_py.POUCT(max_depth=max_depth,
discount_factor=discount_factor,
planning_time=planning_time,
exploration_const=exploration_const,
rollout_policy=problem.agent.policy_model)
else:
planner = pomdp_py.POMCP(max_depth=max_depth,
discount_factor=discount_factor,
planning_time=planning_time,
exploration_const=exploration_const,
rollout_policy=problem.agent.policy_model)
if visualize:
viz = TagViz(problem.env, controllable=False)
if viz.on_init() == False:
raise Exception("Environment failed to initialize")
viz.update(None, None, problem.agent.cur_belief)
viz.on_render()
_discount = 1.0
_time_used = 0
_find_actions_count = 0
_total_reward = 0 # total, undiscounted reward
_total_discounted_reward = 0
for i in range(max_steps):
# Plan action
_start = time.time()
real_action = planner.plan(problem.agent)
_time_used += time.time() - _start
if _time_used > max_time:
break # no more time to update.
# Execute action
reward = problem.env.state_transition(real_action, execute=True)
# Receive observation
_start = time.time()
real_observation = \
problem.env.provide_observation(problem.agent.observation_model, real_action)
# Updates
problem.agent.clear_history() # truncate history
problem.agent.update_history(real_action, real_observation)
planner.update(problem.agent, real_action, real_observation)
if planner_type == "pouct":
belief_update(problem.agent, real_action, real_observation)
_time_used += time.time() - _start
# Info and render
_total_reward += reward
_total_discounted_reward += reward * _discount
_discount = _discount * discount_factor
print("==== Step %d ====" % (i + 1))
print("Action: %s" % str(real_action))
print("Observation: %s" % str(real_observation))
print("Reward: %s" % str(reward))
print("Reward (Cumulative): %s" % str(_total_reward))
print("Reward (Discounted): %s" % str(_total_discounted_reward))
print("Find Actions Count: %d" % _find_actions_count)
if isinstance(planner, pomdp_py.POUCT):
print("__num_sims__: %d" % planner.last_num_sims)
if visualize:
viz.update(real_action, real_observation, problem.agent.cur_belief)
viz.on_loop()
viz.on_render()
# Termination check
if problem.env.state.target_found:
print("Done!")
break
if _time_used > max_time:
print("Maximum time reached.")
break
if _discount * 10 < 1e-4:
print("Discount factor already too small")
break
return _total_discounted_reward
def main():
## Setting 1:
## The values are set according to the paper.
setting1 = {
"obs_probs": { # next_state -> action -> observation
"tiger-left":{
"open-left": {"tiger-left": 0.5, "tiger-right": 0.5},
"open-right": {"tiger-left": 0.5, "tiger-right": 0.5},
"listen": {"tiger-left": 0.85, "tiger-right": 0.15}
},
"tiger-right":{
"open-left": {"tiger-left": 0.5, "tiger-right": 0.5},
"open-right": {"tiger-left": 0.5, "tiger-right": 0.5},
"listen": {"tiger-left": 0.15, "tiger-right": 0.85}
}
},
"trans_probs": { # state -> action -> next_state
"tiger-left":{
"open-left": {"tiger-left": 0.5, "tiger-right": 0.5},
"open-right": {"tiger-left": 0.5, "tiger-right": 0.5},
"listen": {"tiger-left": 1.0, "tiger-right": 0.0}
},
"tiger-right":{
"open-left": {"tiger-left": 0.5, "tiger-right": 0.5},
"open-right": {"tiger-left": 0.5, "tiger-right": 0.5},
"listen": {"tiger-left": 0.0, "tiger-right": 1.0}
}
}
}
## Setting 2:
## Based on my understanding of T and O; Treat the state as given.
setting2 = {
"obs_probs": { # next_state -> action -> observation
"tiger-left":{
"open-left": {"tiger-left": 1.0, "tiger-right": 0.0},
"open-right": {"tiger-left": 1.0, "tiger-right": 0.0},
"listen": {"tiger-left": 0.85, "tiger-right": 0.15}
},
"tiger-right":{
"open-left": {"tiger-left": 0.0, "tiger-right": 1.0},
"open-right": {"tiger-left": 0.0, "tiger-right": 1.0},
"listen": {"tiger-left": 0.15, "tiger-right": 0.85}
}
},
"trans_probs": { # state -> action -> next_state
"tiger-left":{
"open-left": {"tiger-left": 1.0, "tiger-right": 0.0},
"open-right": {"tiger-left": 1.0, "tiger-right": 0.0},
"listen": {"tiger-left": 1.0, "tiger-right": 0.0}
},
"tiger-right":{
"open-left": {"tiger-left": 0.0, "tiger-right": 1.0},
"open-right": {"tiger-left": 0.0, "tiger-right": 1.0},
"listen": {"tiger-left": 0.0, "tiger-right": 1.0}
}
}
}
# setting1 resets the problem after the agent chooses open-left or open-right;
# It's reasonable - when the agent opens one door and sees a tiger, it gets
# killed; when the agent sees a treasure, it will take some of the treasure
# and leave. Thus, the agent will have no incentive to close the door and do
# this again. The setting2 is the case where the agent is a robot, and only
# cares about getting higher reward.
setting = build_setting(setting1)
init_true_state = random.choice(list(TigerProblem.STATES))
init_belief = pomdp_py.Histogram({State("tiger-left"): 0.5,
State("tiger-right"): 0.5})
tiger_problem = TigerProblem(setting['obs_probs'],
setting['trans_probs'],
init_true_state, init_belief)
# Value iteration
print("** Testing value iteration **")
vi = pomdp_py.ValueIteration(horizon=2, discount_factor=0.99)
test_planner(tiger_problem, vi, nsteps=3)
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
print("\n** Testing POUCT **")
pouct = pomdp_py.POUCT(max_depth=10, discount_factor=0.95,
num_sims=4096, exploration_const=110,
rollout_policy=tiger_problem.agent.policy_model)
test_planner(tiger_problem, pouct, nsteps=10)
pomdp_py.visual.visualize_pouct_search_tree(tiger_problem.agent.tree,
max_depth=5, anonymize=False)
# Reset agent belief
tiger_problem.agent.set_belief(init_belief, prior=True)
tiger_problem.agent.tree = None
print("** Testing POMCP **")
tiger_problem.agent.set_belief(pomdp_py.Particles.from_histogram(init_belief, num_particles=100), prior=True)
pomcp = pomdp_py.POMCP(max_depth=10, discount_factor=0.95,
num_sims=1000, exploration_const=110,
rollout_policy=tiger_problem.agent.policy_model)
test_planner(tiger_problem, pomcp, nsteps=10)
pomdp_py.visual.visualize_pouct_search_tree(tiger_problem.agent.tree,
max_depth=5, anonymize=False)
init_state, rock_locs = RockSampleProblem.generate_instance(n, k)
init_state_copy = copy.deepcopy(init_state)
belief = "uniform"
# init belief (uniform), represented in particles;
# We don't factor the state here; We are also not doing any action prior.
init_belief = init_particles_belief(200, init_state, belief=belief)
rocksample = RockSampleProblem(n, k, init_state, rock_locs, init_belief)
rocksample.print_state()
print("*** Testing POMCP ***")
pomcp = pomdp_py.POMCP(max_depth=20,
discount_factor=0.95,
num_sims=4096,
exploration_const=20,
rollout_policy=rocksample.agent.policy_model)
tt, ttd = test_planner(rocksample, pomcp, nsteps=100, discount=0.95)
rocksample.env.state.position = init_state_copy.position
rocksample.env.state.rocktypes = init_state_copy.rocktypes
rocksample.env.state.terminal = False
init_belief = init_particles_belief(200,
rocksample.env.state,
belief=belief)
rocksample.agent.set_belief(init_belief)
print("*** Testing PO-rollout ***")
poroll = pomdp_py.PORollout(max_depth=20,
discount_factor=0.95,
