n_simulations=100,
n_particles=100)
real_initial_state = copy.deepcopy(simulator.start_state)
time = 0
h = History()
while time < 100:
time += 1
print('Time ', time - 1)
action = pomcp.search(h)
h.add_only_action(action)
#print('Estado representado pela raiz')
#print(real_initial_state.grid)
successor_state, observation, _, _ = simulator.step(
real_initial_state, action)
real_initial_state = copy.deepcopy(successor_state)
h.add_only_observation(observation)
print('Action from POCMP: ', action, 'Real observation: ', observation)
#Save the 'old' particle list to update afterwards
old_particle_list = copy.deepcopy(
pomcp.tree.nodes[pomcp.tree.root_key].particle_list)
#print('tamanho old list: ', len(old_particle_list))
pomcp.tree.prune_and_make_new_root(action, observation)
#print('Historico oficial')
#h.print_history()
state_from_history, _ = simulator.get_dummy_state_and_legal_actions_given_history(
h)
#Now update the belief state
pomcp.tree.nodes[pomcp.tree.root_key].particle_list = particle_list_update(
simulator, old_particle_list, int(pomcp.n_simulations),
state_from_history, action, observation, 100)
if len(pomcp.tree.nodes[pomcp.tree.root_key].particle_list) == 0:
