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Various fixes for under/over approximation with rewards.

tempestpy_adaptions
Tim Quatmann 5 years ago
parent
3887e8a979
commit
110453146d
1 changed files with 31 additions and 22 deletions
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  1. 53
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp

53
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
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@ -387,6 +387,7 @@ namespace storm {
hintVector[extraTargetState] = storm::utility::one<ValueType>();
}
std::vector<uint64_t> targetStates = {extraTargetState};
storm::storage::BitVector fullyExpandedStates;
// Map to save the weighted values resulting from the preprocessing for the beliefs / indices in beliefSpace
std::map<uint64_t, ValueType> weightedSumOverMap;
@ -441,9 +442,8 @@ namespace storm {
beliefsToBeExpanded.pop_front();
uint64_t currMdpState = beliefStateMap.left.at(currId);
auto const& currBelief = beliefGrid.getGridPoint(currId);
uint32_t currObservation = beliefGrid.getBeliefObservation(currBelief);
uint32_t currObservation = beliefGrid.getBeliefObservation(currId);
mdpTransitionsBuilder.newRowGroup(mdpMatrixRow);
if (targetObservations.count(currObservation) != 0) {
@ -457,8 +457,9 @@ namespace storm {
mdpTransitionsBuilder.addNextValue(mdpMatrixRow, extraBottomState, storm::utility::one<ValueType>() - weightedSumOverMap[currId]);
++mdpMatrixRow;
} else {
auto const& currBelief = beliefGrid.getGridPoint(currId);
uint64_t someState = currBelief.begin()->first;
fullyExpandedStates.grow(nextMdpStateId, false);
fullyExpandedStates.set(currMdpState, true);
uint64_t someState = beliefGrid.getGridPoint(currId).begin()->first;
uint64_t numChoices = pomdp.getNumberOfChoices(someState);
for (uint64_t action = 0; action < numChoices; ++action) {
@ -507,6 +508,7 @@ namespace storm {
statistics.overApproximationBuildTime.stop();
return nullptr;
}
fullyExpandedStates.resize(nextMdpStateId, false);
storm::models::sparse::StateLabeling mdpLabeling(nextMdpStateId);
mdpLabeling.addLabel("init");
@ -520,13 +522,15 @@ namespace storm {
if (computeRewards) {
storm::models::sparse::StandardRewardModel<ValueType> mdpRewardModel(boost::none, std::vector<ValueType>(mdpMatrixRow));
for (auto const &iter : beliefStateMap.left) {
auto currentBelief = beliefGrid.getGridPoint(iter.first);
auto representativeState = currentBelief.begin()->first;
for (uint64_t action = 0; action < overApproxMdp->getNumberOfChoices(representativeState); ++action) {
// Add the reward
uint64_t mdpChoice = overApproxMdp->getChoiceIndex(storm::storage::StateActionPair(iter.second, action));
uint64_t pomdpChoice = pomdp.getChoiceIndex(storm::storage::StateActionPair(representativeState, action));
mdpRewardModel.setStateActionReward(mdpChoice, getRewardAfterAction(pomdpChoice, currentBelief));
if (fullyExpandedStates.get(iter.second)) {
auto currentBelief = beliefGrid.getGridPoint(iter.first);
auto representativeState = currentBelief.begin()->first;
for (uint64_t action = 0; action < pomdp.getNumberOfChoices(representativeState); ++action) {
// Add the reward
uint64_t mdpChoice = overApproxMdp->getChoiceIndex(storm::storage::StateActionPair(iter.second, action));
uint64_t pomdpChoice = pomdp.getChoiceIndex(storm::storage::StateActionPair(representativeState, action));
mdpRewardModel.setStateActionReward(mdpChoice, getRewardAfterAction(pomdpChoice, currentBelief));
}
}
}
overApproxMdp->addRewardModel("default", mdpRewardModel);
@ -1076,7 +1080,8 @@ namespace storm {
++mdpMatrixRow;
}
std::vector<uint64_t> targetStates = {extraTargetState};
storm::storage::BitVector fullyExpandedStates;
bsmap_type beliefStateMap;
std::deque<uint64_t> beliefsToBeExpanded;
@ -1106,11 +1111,11 @@ namespace storm {
mdpTransitionsBuilder.addNextValue(mdpMatrixRow, currMdpState, storm::utility::one<ValueType>());
++mdpMatrixRow;
} else if (currMdpState > maxModelSize) {
// In other cases, this could be helpflull as well.
if (min) {
// Get an upper bound here
if (computeRewards) {
// TODO: With minimizing rewards we need an upper bound!
// In other cases, this could be helpflull as well.
// For now, add a selfloop to "generate" infinite reward
mdpTransitionsBuilder.addNextValue(mdpMatrixRow, currMdpState, storm::utility::one<ValueType>());
} else {
@ -1121,6 +1126,8 @@ namespace storm {
}
++mdpMatrixRow;
} else {
fullyExpandedStates.grow(nextMdpStateId, false);
fullyExpandedStates.set(currMdpState, true);
// Iterate over all actions and add the corresponding transitions
uint64_t someState = currBelief.begin()->first;
uint64_t numChoices = pomdp.getNumberOfChoices(someState);
@ -1153,7 +1160,7 @@ namespace storm {
statistics.underApproximationBuildTime.stop();
return nullptr;
}
fullyExpandedStates.resize(nextMdpStateId, false);
storm::models::sparse::StateLabeling mdpLabeling(nextMdpStateId);
mdpLabeling.addLabel("init");
mdpLabeling.addLabel("target");
@ -1167,13 +1174,15 @@ namespace storm {
if (computeRewards) {
storm::models::sparse::StandardRewardModel<ValueType> mdpRewardModel(boost::none, std::vector<ValueType>(mdpMatrixRow));
for (auto const &iter : beliefStateMap.left) {
auto currentBelief = beliefGrid.getGridPoint(iter.first);
auto representativeState = currentBelief.begin()->first;
for (uint64_t action = 0; action < model->getNumberOfChoices(representativeState); ++action) {
// Add the reward
uint64_t mdpChoice = model->getChoiceIndex(storm::storage::StateActionPair(iter.second, action));
uint64_t pomdpChoice = pomdp.getChoiceIndex(storm::storage::StateActionPair(representativeState, action));
mdpRewardModel.setStateActionReward(mdpChoice, getRewardAfterAction(pomdpChoice, currentBelief));
if (fullyExpandedStates.get(iter.second)) {
auto currentBelief = beliefGrid.getGridPoint(iter.first);
auto representativeState = currentBelief.begin()->first;
for (uint64_t action = 0; action < pomdp.getNumberOfChoices(representativeState); ++action) {
// Add the reward
uint64_t mdpChoice = model->getChoiceIndex(storm::storage::StateActionPair(iter.second, action));
uint64_t pomdpChoice = pomdp.getChoiceIndex(storm::storage::StateActionPair(representativeState, action));
mdpRewardModel.setStateActionReward(mdpChoice, getRewardAfterAction(pomdpChoice, currentBelief));
}
}
}
model->addRewardModel("default", mdpRewardModel);
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