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Implementation of exploration stopping in refinement procedure for newly added states

main
Alexander Bork 6 years ago
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77b1de510f
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44fd26bd13
1 changed files with 51 additions and 40 deletions
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  1. 91
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp

91
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
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@ -552,10 +552,21 @@ namespace storm {
boost::optional<std::map<uint64_t, ValueType>> overApproximationMap, boost::optional<std::map<uint64_t, ValueType>> overApproximationMap,
boost::optional<std::map<uint64_t, ValueType>> underApproximationMap, boost::optional<std::map<uint64_t, ValueType>> underApproximationMap,
uint64_t maxUaModelSize) { uint64_t maxUaModelSize) {
bool initialBoundMapsSet = overApproximationMap && underApproximationMap;
std::map<uint64_t, ValueType> initialOverMap;
std::map<uint64_t, ValueType> initialUnderMap;
if (initialBoundMapsSet) {
initialOverMap = overApproximationMap.value();
initialUnderMap = underApproximationMap.value();
}
// Note that a persistent cache is not support by the current data structure. The resolution for the given belief also has to be stored somewhere to cache effectively // Note that a persistent cache is not support by the current data structure. The resolution for the given belief also has to be stored somewhere to cache effectively
std::map<uint64_t, std::vector<std::map<uint64_t, ValueType>>> subSimplexCache; std::map<uint64_t, std::vector<std::map<uint64_t, ValueType>>> subSimplexCache;
std::map<uint64_t, std::vector<ValueType>> lambdaCache; std::map<uint64_t, std::vector<ValueType>> lambdaCache;
// Map to save the weighted values resulting from the initial preprocessing for newly added beliefs / indices in beliefSpace
std::map<uint64_t, ValueType> weightedSumOverMap;
std::map<uint64_t, ValueType> weightedSumUnderMap;
uint64_t nextBeliefId = refinementComponents->beliefList.size(); uint64_t nextBeliefId = refinementComponents->beliefList.size();
uint64_t nextStateId = refinementComponents->overApproxModelPtr->getNumberOfStates(); uint64_t nextStateId = refinementComponents->overApproxModelPtr->getNumberOfStates();
std::set<uint64_t> relevantStates; std::set<uint64_t> relevantStates;
@ -622,18 +633,16 @@ namespace storm {
refinementComponents->beliefGrid.push_back(gridBelief); refinementComponents->beliefGrid.push_back(gridBelief);
refinementComponents->beliefIsTarget.push_back(targetObservations.find(observation) != targetObservations.end()); refinementComponents->beliefIsTarget.push_back(targetObservations.find(observation) != targetObservations.end());
// compute overapproximate value using MDP result map // compute overapproximate value using MDP result map
//TODO do this
/*
if (boundMapsSet) {
if (initialBoundMapsSet) {
auto tempWeightedSumOver = storm::utility::zero<ValueType>(); auto tempWeightedSumOver = storm::utility::zero<ValueType>();
auto tempWeightedSumUnder = storm::utility::zero<ValueType>(); auto tempWeightedSumUnder = storm::utility::zero<ValueType>();
for (uint64_t i = 0; i < subSimplex[j].size(); ++i) { for (uint64_t i = 0; i < subSimplex[j].size(); ++i) {
tempWeightedSumOver += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(overMap[i]);
tempWeightedSumUnder += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(underMap[i]);
tempWeightedSumOver += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(initialOverMap[i]);
tempWeightedSumUnder += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(initialUnderMap[i]);
} }
weightedSumOverMap[nextId] = tempWeightedSumOver;
weightedSumUnderMap[nextId] = tempWeightedSumUnder;
} */
weightedSumOverMap[nextBeliefId] = tempWeightedSumOver;
weightedSumUnderMap[nextBeliefId] = tempWeightedSumUnder;
}
beliefsToBeExpanded.push_back(nextBeliefId); beliefsToBeExpanded.push_back(nextBeliefId);
refinementComponents->overApproxBeliefStateMap.insert(bsmap_type::value_type(nextBeliefId, nextStateId)); refinementComponents->overApproxBeliefStateMap.insert(bsmap_type::value_type(nextBeliefId, nextStateId));
transitionInActionBelief[nextStateId] = iter->second * lambdas[j]; transitionInActionBelief[nextStateId] = iter->second * lambdas[j];
@ -654,17 +663,25 @@ namespace storm {
transitionsStateActionPair[stateActionPair] = transitionInActionBelief; transitionsStateActionPair[stateActionPair] = transitionInActionBelief;
} }
} }
std::set<uint64_t> stoppedExplorationStateSet;
// Expand newly added beliefs // Expand newly added beliefs
while (!beliefsToBeExpanded.empty()) { while (!beliefsToBeExpanded.empty()) {
uint64_t currId = beliefsToBeExpanded.front(); uint64_t currId = beliefsToBeExpanded.front();
beliefsToBeExpanded.pop_front(); beliefsToBeExpanded.pop_front();
bool isTarget = refinementComponents->beliefIsTarget[currId]; bool isTarget = refinementComponents->beliefIsTarget[currId];
/* TODO
if (boundMapsSet && cc.isLess(weightedSumOverMap[currId] - weightedSumUnderMap[currId], storm::utility::convertNumber<ValueType>(options.explorationThreshold))) {
mdpTransitions.push_back({{{1, weightedSumOverMap[currId]}, {0, storm::utility::one<ValueType>() - weightedSumOverMap[currId]}}});
if (initialBoundMapsSet &&
cc.isLess(weightedSumOverMap[currId] - weightedSumUnderMap[currId], storm::utility::convertNumber<ValueType>(options.explorationThreshold))) {
STORM_PRINT("Stop Exploration in State " << refinementComponents->overApproxBeliefStateMap.left.at(currId) << " with Value " << weightedSumOverMap[currId]
<< std::endl)
transitionsStateActionPair[std::make_pair(refinementComponents->overApproxBeliefStateMap.left.at(currId), 0)] = {{1, weightedSumOverMap[currId]},
{0, storm::utility::one<ValueType>() -
weightedSumOverMap[currId]}};
stoppedExplorationStateSet.insert(refinementComponents->overApproxBeliefStateMap.left.at(currId));
continue; continue;
}*/
}
if (isTarget) { if (isTarget) {
// Depending on whether we compute rewards, we select the right initial result // Depending on whether we compute rewards, we select the right initial result
@ -690,21 +707,21 @@ namespace storm {
//Triangulate here and put the possibly resulting belief in the grid //Triangulate here and put the possibly resulting belief in the grid
std::vector<std::map<uint64_t, ValueType>> subSimplex; std::vector<std::map<uint64_t, ValueType>> subSimplex;
std::vector<ValueType> lambdas; std::vector<ValueType> lambdas;
/* TODO Caching
if (options.cacheSubsimplices && subSimplexCache.count(idNextBelief) > 0) { if (options.cacheSubsimplices && subSimplexCache.count(idNextBelief) > 0) {
subSimplex = subSimplexCache[idNextBelief]; subSimplex = subSimplexCache[idNextBelief];
lambdas = lambdaCache[idNextBelief]; lambdas = lambdaCache[idNextBelief];
} else { */
auto temp = computeSubSimplexAndLambdas(refinementComponents->beliefList[idNextBelief].probabilities,
observationResolutionVector[refinementComponents->beliefList[idNextBelief].observation],
pomdp.getNumberOfStates());
subSimplex = temp.first;
lambdas = temp.second;
/*if (options.cacheSubsimplices) {
subSimplexCache[idNextBelief] = subSimplex;
lambdaCache[idNextBelief] = lambdas;
} else {
auto temp = computeSubSimplexAndLambdas(refinementComponents->beliefList[idNextBelief].probabilities,
observationResolutionVector[refinementComponents->beliefList[idNextBelief].observation],
pomdp.getNumberOfStates());
subSimplex = temp.first;
lambdas = temp.second;
if (options.cacheSubsimplices) {
subSimplexCache[idNextBelief] = subSimplex;
lambdaCache[idNextBelief] = lambdas;
}
} }
}*/
for (size_t j = 0; j < lambdas.size(); ++j) { for (size_t j = 0; j < lambdas.size(); ++j) {
if (!cc.isEqual(lambdas[j], storm::utility::zero<ValueType>())) { if (!cc.isEqual(lambdas[j], storm::utility::zero<ValueType>())) {
@ -716,17 +733,16 @@ namespace storm {
refinementComponents->beliefGrid.push_back(gridBelief); refinementComponents->beliefGrid.push_back(gridBelief);
refinementComponents->beliefIsTarget.push_back(targetObservations.find(observation) != targetObservations.end()); refinementComponents->beliefIsTarget.push_back(targetObservations.find(observation) != targetObservations.end());
// compute overapproximate value using MDP result map // compute overapproximate value using MDP result map
/*
if (boundMapsSet) {
if (initialBoundMapsSet) {
auto tempWeightedSumOver = storm::utility::zero<ValueType>(); auto tempWeightedSumOver = storm::utility::zero<ValueType>();
auto tempWeightedSumUnder = storm::utility::zero<ValueType>(); auto tempWeightedSumUnder = storm::utility::zero<ValueType>();
for (uint64_t i = 0; i < subSimplex[j].size(); ++i) { for (uint64_t i = 0; i < subSimplex[j].size(); ++i) {
tempWeightedSumOver += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(overMap[i]);
tempWeightedSumUnder += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(underMap[i]);
tempWeightedSumOver += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(initialOverMap[i]);
tempWeightedSumUnder += subSimplex[j][i] * storm::utility::convertNumber<ValueType>(initialUnderMap[i]);
} }
weightedSumOverMap[nextId] = tempWeightedSumOver;
weightedSumUnderMap[nextId] = tempWeightedSumUnder;
} */
weightedSumOverMap[nextBeliefId] = tempWeightedSumOver;
weightedSumUnderMap[nextBeliefId] = tempWeightedSumUnder;
}
beliefsToBeExpanded.push_back(nextBeliefId); beliefsToBeExpanded.push_back(nextBeliefId);
refinementComponents->overApproxBeliefStateMap.insert(bsmap_type::value_type(nextBeliefId, nextStateId)); refinementComponents->overApproxBeliefStateMap.insert(bsmap_type::value_type(nextBeliefId, nextStateId));
transitionInActionBelief[nextStateId] = iter->second * lambdas[j]; transitionInActionBelief[nextStateId] = iter->second * lambdas[j];
@ -750,15 +766,7 @@ namespace storm {
/* /*
if (computeRewards) { if (computeRewards) {
beliefActionRewards.emplace(std::make_pair(currId, actionRewardsInState)); beliefActionRewards.emplace(std::make_pair(currId, actionRewardsInState));
}
if (transitionsInBelief.empty()) {
std::map<uint64_t, ValueType> transitionInActionBelief;
transitionInActionBelief[beliefStateMap.left.at(currId)] = storm::utility::one<ValueType>();
transitionsInBelief.push_back(transitionInActionBelief);
}
mdpTransitions.push_back(transitionsInBelief);*/
}*/
} }
} }
@ -766,7 +774,7 @@ namespace storm {
mdpLabeling.addLabel("init"); mdpLabeling.addLabel("init");
mdpLabeling.addLabel("target"); mdpLabeling.addLabel("target");
mdpLabeling.addLabelToState("init", refinementComponents->overApproxBeliefStateMap.left.at(refinementComponents->initialBeliefId)); mdpLabeling.addLabelToState("init", refinementComponents->overApproxBeliefStateMap.left.at(refinementComponents->initialBeliefId));
mdpLabeling.addLabelToState("target", 1);
uint_fast64_t currentRow = 0; uint_fast64_t currentRow = 0;
uint_fast64_t currentRowGroup = 0; uint_fast64_t currentRowGroup = 0;
storm::storage::SparseMatrixBuilder<ValueType> smb(0, nextStateId, 0, false, true); storm::storage::SparseMatrixBuilder<ValueType> smb(0, nextStateId, 0, false, true);
@ -801,6 +809,9 @@ namespace storm {
mdpLabeling.addLabelToState("target", state); mdpLabeling.addLabelToState("target", state);
break; break;
} }
if (stoppedExplorationStateSet.find(state) != stoppedExplorationStateSet.end()) {
break;
}
} }
++currentRowGroup; ++currentRowGroup;
} }

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