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progress in monitoring with timeouts etc

tempestpy_adaptions
Sebastian Junges 4 years ago
parent
4760a12815
commit
e513a3fb62
8 changed files with 146 additions and 35 deletions
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  1. 2
      src/storm-pomdp/generator/BeliefSupportTracker.cpp
  2. 46
      src/storm-pomdp/generator/NondeterministicBeliefTracker.cpp
  3. 15
      src/storm-pomdp/generator/NondeterministicBeliefTracker.h
  4. 67
      src/storm-pomdp/transformer/ObservationTraceUnfolder.cpp
  5. 9
      src/storm-pomdp/transformer/ObservationTraceUnfolder.h
  6. 2
      src/storm/storage/expressions/ExpressionManager.cpp
  7. 27
      src/storm/storage/geometry/ReduceVertexCloud.cpp
  8. 13
      src/storm/storage/geometry/ReduceVertexCloud.h

2
src/storm-pomdp/generator/BeliefSupportTracker.cpp
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@ -30,6 +30,8 @@ namespace storm {
}
template class BeliefSupportTracker<double>;
template class BeliefSupportTracker<storm::RationalNumber>;
}
}

46
src/storm-pomdp/generator/NondeterministicBeliefTracker.cpp
View File

@ -4,6 +4,7 @@
#include "storm/storage/geometry/nativepolytopeconversion/QuickHull.h"
#include "storm/storage/geometry/ReduceVertexCloud.h"
#include "storm/utility/vector.h"
#include "storm/utility/Stopwatch.h"
namespace storm {
namespace generator {
@ -207,7 +208,9 @@ namespace storm {
template<typename ValueType>
void SparseBeliefState<ValueType>::setSupport(storm::storage::BitVector& support) const {
assert(false);
for(auto const& entry : belief) {
support.set(entry.first, true);
}
}
template<typename ValueType>
@ -425,8 +428,8 @@ namespace storm {
template<typename ValueType, typename BeliefState>
NondeterministicBeliefTracker<ValueType, BeliefState>::NondeterministicBeliefTracker(storm::models::sparse::Pomdp<ValueType> const& pomdp) :
pomdp(pomdp), manager(std::make_shared<BeliefStateManager<ValueType>>(pomdp)), beliefs() {
NondeterministicBeliefTracker<ValueType, BeliefState>::NondeterministicBeliefTracker(storm::models::sparse::Pomdp<ValueType> const& pomdp, typename NondeterministicBeliefTracker<ValueType, BeliefState>::Options options ) :
pomdp(pomdp), manager(std::make_shared<BeliefStateManager<ValueType>>(pomdp)), beliefs(), options(options) {
//
}
@ -448,8 +451,12 @@ namespace storm {
STORM_LOG_THROW(!beliefs.empty(), storm::exceptions::InvalidOperationException, "Cannot track without a belief (need to reset).");
std::unordered_set<BeliefState> newBeliefs;
//for (uint64_t action = 0; action < manager->getActionsForObservation(lastObservation); ++action) {
storm::utility::Stopwatch trackTimer(true);
for (auto const& belief : beliefs) {
belief.update(newObservation, newBeliefs);
if (options.trackTimeOut > 0 && trackTimer.getTimeInMilliseconds() > options.trackTimeOut) {
return false;
}
}
//}
beliefs = newBeliefs;
@ -492,11 +499,28 @@ namespace storm {
return lastObservation;
}
template<typename ValueType, typename BeliefState>
uint64_t NondeterministicBeliefTracker<ValueType, BeliefState>::getNumberOfBeliefs() const {
return beliefs.size();
}
template<typename ValueType, typename BeliefState>
uint64_t NondeterministicBeliefTracker<ValueType, BeliefState>::getCurrentDimension() const {
storm::storage::BitVector support(beliefs.begin()->getSupportSize());
for(auto const& belief : beliefs) {
belief.setSupport(support);
}
return support.getNumberOfSetBits();
}
//
template<typename ValueType, typename BeliefState>
uint64_t NondeterministicBeliefTracker<ValueType, BeliefState>::reduce() {
reductionTimedOut = false;
std::shared_ptr<storm::utility::solver::SmtSolverFactory> solverFactory = std::make_shared<storm::utility::solver::Z3SmtSolverFactory>();
storm::storage::geometry::ReduceVertexCloud<ValueType> rvc(solverFactory);
storm::storage::geometry::ReduceVertexCloud<ValueType> rvc(solverFactory, options.wiggle, options.timeOut);
std::vector<std::map<uint64_t, ValueType>> points;
std::vector<typename std::unordered_set<BeliefState>::iterator> iterators;
for (auto it = beliefs.begin(); it != beliefs.end(); ++it) {
@ -504,7 +528,11 @@ namespace storm {
points.push_back(it->getBeliefMap());
iterators.push_back(it);
}
storm::storage::BitVector eliminate = ~rvc.eliminate(points, pomdp.getNumberOfStates());
auto res = rvc.eliminate(points, pomdp.getNumberOfStates());
storm::storage::BitVector eliminate = ~res.first;
if (res.second) {
reductionTimedOut = true;
}
auto selectedIterators = storm::utility::vector::filterVector(iterators, eliminate);
for (auto iter : selectedIterators) {
@ -513,6 +541,11 @@ namespace storm {
return eliminate.getNumberOfSetBits();
}
template<typename ValueType, typename BeliefState>
bool NondeterministicBeliefTracker<ValueType, BeliefState>::hasTimedOut() const {
return reductionTimedOut;
}
template class SparseBeliefState<double>;
template bool operator==(SparseBeliefState<double> const&, SparseBeliefState<double> const&);
@ -521,6 +554,9 @@ namespace storm {
//template bool operator==(ObservationDenseBeliefState<double> const&, ObservationDenseBeliefState<double> const&);
//template class NondeterministicBeliefTracker<double, ObservationDenseBeliefState<double>>;
template class SparseBeliefState<storm::RationalNumber>;
template bool operator==(SparseBeliefState<storm::RationalNumber> const&, SparseBeliefState<storm::RationalNumber> const&);
template class NondeterministicBeliefTracker<storm::RationalNumber, SparseBeliefState<storm::RationalNumber>>;
}
}

15
src/storm-pomdp/generator/NondeterministicBeliefTracker.h
View File

@ -93,23 +93,34 @@ namespace storm {
uint64_t prevId;
};
template<typename ValueType, typename BeliefState>
class NondeterministicBeliefTracker {
public:
NondeterministicBeliefTracker(storm::models::sparse::Pomdp<ValueType> const& pomdp);
struct Options {
uint64_t trackTimeOut = 0;
uint64_t timeOut = 0; // for reduction, in milliseconds, 0 is no timeout
ValueType wiggle; // tolerance, anything above 0 means that we are incomplete.
};
NondeterministicBeliefTracker(storm::models::sparse::Pomdp<ValueType> const& pomdp, typename NondeterministicBeliefTracker<ValueType, BeliefState>::Options options = Options());
bool reset(uint32_t observation);
bool track(uint64_t newObservation);
std::unordered_set<BeliefState> const& getCurrentBeliefs() const;
uint32_t getCurrentObservation() const;
uint64_t getNumberOfBeliefs() const;
ValueType getCurrentRisk(bool max=true);
void setRisk(std::vector<ValueType> const& risk);
uint64_t getCurrentDimension() const;
uint64_t reduce();
bool hasTimedOut() const;
private:
storm::models::sparse::Pomdp<ValueType> const& pomdp;
std::shared_ptr<BeliefStateManager<ValueType>> manager;
std::unordered_set<BeliefState> beliefs;
bool reductionTimedOut = false;
Options options;
uint32_t lastObservation;
};
}

67
src/storm-pomdp/transformer/ObservationTraceUnfolder.cpp
View File

@ -2,21 +2,23 @@
#include "storm-pomdp/transformer/ObservationTraceUnfolder.h"
#include "storm/storage/expressions/ExpressionManager.h"
#undef _VERBOSE_OBSERVATION_UNFOLDING
namespace storm {
namespace pomdp {
template<typename ValueType>
ObservationTraceUnfolder<ValueType>::ObservationTraceUnfolder(storm::models::sparse::Pomdp<ValueType> const& model,
std::shared_ptr<storm::expressions::ExpressionManager>& exprManager) : model(model), exprManager(exprManager) {
ObservationTraceUnfolder<ValueType>::ObservationTraceUnfolder(storm::models::sparse::Pomdp<ValueType> const& model, std::vector<ValueType> const& risk,
std::shared_ptr<storm::expressions::ExpressionManager>& exprManager) : model(model), risk(risk), exprManager(exprManager) {
statesPerObservation = std::vector<storm::storage::BitVector>(model.getNrObservations(), storm::storage::BitVector(model.getNumberOfStates()));
for (uint64_t state = 0; state < model.getNumberOfStates(); ++state) {
statesPerObservation[model.getObservation(state)].set(state, true);
}
svvar = exprManager->declareFreshIntegerVariable(false, "_s");
}
template<typename ValueType>
std::shared_ptr<storm::models::sparse::Mdp<ValueType>> ObservationTraceUnfolder<ValueType>::transform(
const std::vector<uint32_t> &observations, std::vector<ValueType> const& risk) {
const std::vector<uint32_t> &observations) {
std::vector<uint32_t> modifiedObservations = observations;
// First observation should be special.
// This just makes the algorithm simpler because we do not treat the first step as a special case later.
@ -34,14 +36,20 @@ namespace storm {
statesPerObservation.resize(model.getNrObservations() + 1);
statesPerObservation[model.getNrObservations()] = actualInitialStates;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "build valution builder.." << std::endl;
#endif
storm::storage::sparse::StateValuationsBuilder svbuilder;
auto svvar = exprManager->declareFreshIntegerVariable(false, "_s");
svbuilder.addVariable(svvar);
std::map<uint64_t,uint64_t> unfoldedToOld;
std::map<uint64_t,uint64_t> unfoldedToOldNextStep;
std::map<uint64_t,uint64_t> oldToUnfolded;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "start buildiing matrix..." << std::endl;
#endif
// Add this initial state state:
unfoldedToOldNextStep[0] = actualInitialStates.getNextSetIndex(0);
@ -52,22 +60,25 @@ namespace storm {
// Notice that we are going to use a special last step
for (uint64_t step = 0; step < observations.size() - 1; ++step) {
std::cout << "step " << step << std::endl;
oldToUnfolded.clear();
unfoldedToOld = unfoldedToOldNextStep;
unfoldedToOldNextStep.clear();
for (auto const& unfoldedToOldEntry : unfoldedToOld) {
transitionMatrixBuilder.newRowGroup(newRowGroupStart);
//std::cout << "\tconsider new state " << unfoldedToOldEntry.first << std::endl;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "\tconsider new state " << unfoldedToOldEntry.first << std::endl;
#endif
assert(step == 0 || newRowCount == transitionMatrixBuilder.getLastRow() + 1);
svbuilder.addState(unfoldedToOldEntry.first, {}, {static_cast<int64_t>(unfoldedToOldEntry.second)});
uint64_t oldRowIndexStart = model.getNondeterministicChoiceIndices()[unfoldedToOldEntry.second];
uint64_t oldRowIndexEnd = model.getNondeterministicChoiceIndices()[unfoldedToOldEntry.second+1];
for (uint64_t oldRowIndex = oldRowIndexStart; oldRowIndex != oldRowIndexEnd; oldRowIndex++) {
//std::cout << "\t\tconsider old action " << oldRowIndex << std::endl;
//std::cout << "\t\tconsider new row nr " << newRowCount << std::endl;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "\t\tconsider old action " << oldRowIndex << std::endl;
std::cout << "\t\tconsider new row nr " << newRowCount << std::endl;
#endif
ValueType resetProb = storm::utility::zero<ValueType>();
// We first find the reset probability
@ -76,14 +87,17 @@ namespace storm {
resetProb += oldRowEntry.getValue();
}
}
//std::cout << "\t\t\t add reset" << std::endl;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "\t\t\t add reset with probability " << resetProb << std::endl;
#endif
// Add the resets
if (resetProb != storm::utility::zero<ValueType>()) {
transitionMatrixBuilder.addNextValue(newRowCount, 0, resetProb);
}
//std::cout << "\t\t\t add other transitions..." << std::endl;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "\t\t\t add other transitions..." << std::endl;
#endif
// Now, we build the outgoing transitions.
for (auto const &oldRowEntry : model.getTransitionMatrix().getRow(oldRowIndex)) {
@ -101,7 +115,9 @@ namespace storm {
} else {
column = entryIt->second;
}
//std::cout << "\t\t\t\t transition to " << column << std::endl;
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "\t\t\t\t transition to " << column << "with probability " << oldRowEntry.getValue() << std::endl;
#endif
transitionMatrixBuilder.addNextValue(newRowCount, column,
oldRowEntry.getValue());
}
@ -112,7 +128,6 @@ namespace storm {
}
}
std::cout << "Adding last step..." << std::endl;
// Now, take care of the last step.
uint64_t sinkState = newStateIndex;
uint64_t targetState = newStateIndex + 1;
@ -120,7 +135,11 @@ namespace storm {
svbuilder.addState(unfoldedToOldEntry.first, {}, {static_cast<int64_t>(unfoldedToOldEntry.second)});
transitionMatrixBuilder.newRowGroup(newRowGroupStart);
if (!storm::utility::isZero(storm::utility::one<ValueType>() - risk[unfoldedToOldEntry.second])) {
STORM_LOG_ASSERT(risk.size() > unfoldedToOldEntry.second, "Must be a state");
STORM_LOG_ASSERT(risk[unfoldedToOldEntry.second] <= storm::utility::one<ValueType>(), "Risk must be a probability");
STORM_LOG_ASSERT(risk[unfoldedToOldEntry.second] >= storm::utility::zero<ValueType>(), "Risk must be a probability");
//std::cout << "risk is" << risk[unfoldedToOldEntry.second] << std::endl;
if (!storm::utility::isOne(risk[unfoldedToOldEntry.second])) {
transitionMatrixBuilder.addNextValue(newRowGroupStart, sinkState,
storm::utility::one<ValueType>() - risk[unfoldedToOldEntry.second]);
}
@ -140,12 +159,15 @@ namespace storm {
// target state
transitionMatrixBuilder.addNextValue(newRowGroupStart, targetState, storm::utility::one<ValueType>());
svbuilder.addState(targetState, {}, {-1});
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << "build matrix..." << std::endl;
#endif
storm::storage::sparse::ModelComponents<ValueType> components;
components.transitionMatrix = transitionMatrixBuilder.build();
#ifdef _VERBOSE_OBSERVATION_UNFOLDING
std::cout << components.transitionMatrix << std::endl;
#endif
STORM_LOG_ASSERT(components.transitionMatrix.getRowGroupCount() == targetState + 1, "Expect row group count (" << components.transitionMatrix.getRowGroupCount() << ") one more as target state index " << targetState << ")");
storm::models::sparse::StateLabeling labeling(components.transitionMatrix.getRowGroupCount());
@ -157,12 +179,21 @@ namespace storm {
components.stateValuations = svbuilder.build( components.transitionMatrix.getRowGroupCount());
return std::make_shared<storm::models::sparse::Mdp<ValueType>>(std::move(components));
}
template<typename ValueType>
std::shared_ptr<storm::models::sparse::Mdp<ValueType>> ObservationTraceUnfolder<ValueType>::extend(uint32_t observation) {
traceSoFar.push_back(observation);
return transform(traceSoFar);
}
template<typename ValueType>
void ObservationTraceUnfolder<ValueType>::reset(uint32_t observation) {
traceSoFar = {observation};
}
template class ObservationTraceUnfolder<double>;
template class ObservationTraceUnfolder<storm::RationalNumber>;
template class ObservationTraceUnfolder<storm::RationalFunction>;
}

9
src/storm-pomdp/transformer/ObservationTraceUnfolder.h
View File

@ -6,12 +6,17 @@ namespace storm {
class ObservationTraceUnfolder {
public:
ObservationTraceUnfolder(storm::models::sparse::Pomdp<ValueType> const& model, std::shared_ptr<storm::expressions::ExpressionManager>& exprManager);
std::shared_ptr<storm::models::sparse::Mdp<ValueType>> transform(std::vector<uint32_t> const& observations, std::vector<ValueType> const& risk);
ObservationTraceUnfolder(storm::models::sparse::Pomdp<ValueType> const& model, std::vector<ValueType> const& risk, std::shared_ptr<storm::expressions::ExpressionManager>& exprManager);
std::shared_ptr<storm::models::sparse::Mdp<ValueType>> transform(std::vector<uint32_t> const& observations);
std::shared_ptr<storm::models::sparse::Mdp<ValueType>> extend(uint32_t observation);
void reset(uint32_t observation);
private:
storm::models::sparse::Pomdp<ValueType> const& model;
std::vector<ValueType> risk; // TODO reconsider holding this as a reference, but there were some strange bugs
std::shared_ptr<storm::expressions::ExpressionManager>& exprManager;
std::vector<storm::storage::BitVector> statesPerObservation;
std::vector<uint32_t> traceSoFar;
storm::expressions::Variable svvar;
};

2
src/storm/storage/expressions/ExpressionManager.cpp
View File

@ -296,7 +296,7 @@ namespace storm {
Type const& ExpressionManager::getVariableType(uint_fast64_t index) const {
auto indexTypePair = indexToTypeMapping.find(index);
STORM_LOG_ASSERT(indexTypePair != indexToTypeMapping.end(), "Unable to retrieve type of unknown variable index.");
STORM_LOG_ASSERT(indexTypePair != indexToTypeMapping.end(), "Unable to retrieve type of unknown variable index '" << index << "'.");
return indexTypePair->second;
}

27
src/storm/storage/geometry/ReduceVertexCloud.cpp
View File

@ -23,7 +23,7 @@ namespace storm {
}
template<typename ValueType>
storm::storage::BitVector ReduceVertexCloud<ValueType>::eliminate(std::vector<std::map<uint64_t, ValueType>> const& input, uint64_t maxdimension) {
std::pair<storm::storage::BitVector, bool> ReduceVertexCloud<ValueType>::eliminate(std::vector<std::map<uint64_t, ValueType>> const& input, uint64_t maxdimension) {
std::shared_ptr<storm::expressions::ExpressionManager> expressionManager = std::make_shared<storm::expressions::ExpressionManager>();
std::vector<storm::storage::BitVector> supports;
std::vector<storm::expressions::Variable> weightVariables;
@ -48,14 +48,23 @@ namespace storm {
smtSolver->add((weightVariableExpr >= expressionManager->rational(0.0)));
smtSolver->add(weightVariableExpr < expressionManager->rational(1.0));
}
smtSolver->add(storm::expressions::sum(weightVariableExpressions) <= expressionManager->rational(1.0 + wiggle));
smtSolver->add(storm::expressions::sum(weightVariableExpressions) >= expressionManager->rational(1 - wiggle));
if (storm::utility::isZero(wiggle)) {
smtSolver->add(storm::expressions::sum(weightVariableExpressions) <=
expressionManager->rational(1));
} else {
smtSolver->add(storm::expressions::sum(weightVariableExpressions) <=
expressionManager->rational(1.0 + wiggle));
smtSolver->add(storm::expressions::sum(weightVariableExpressions) >=
expressionManager->rational(1 - wiggle));
}
storm::utility::Stopwatch solverTime;
storm::utility::Stopwatch totalTime(true);
storm::storage::BitVector vertices(input.size());
for (uint64_t pointIndex = 0; pointIndex < input.size(); ++pointIndex) {
#ifdef _DEBUG_REUCE_VERTEX_CLOUD
std::cout << pointIndex << " out of " << input.size() << std::endl;
#endif
smtSolver->push();
std::map<uint64_t, std::vector<storm::expressions::Expression>> dimensionTerms;
for (auto const& entry : input[pointIndex]) {
@ -104,16 +113,26 @@ namespace storm {
}
std::cout << std::endl;
}
if (timeOut > )
#endif
if (timeOut > 0 && totalTime.getTimeInMilliseconds() > timeOut) {
for (uint64_t remainingPoint = pointIndex + 1; remainingPoint < input.size(); ++remainingPoint) {
vertices.set(remainingPoint);
}
return {vertices, true};
}
smtSolver->pop();
#ifdef _DEBUG_REDUCE_VERTEX_CLOUD
std::cout << "Solver time " << solverTime.getTimeInMilliseconds() << std::endl;
std::cout << "Total time " << totalTime.getTimeInMilliseconds() << std::endl;
#endif
}
return vertices;
return {vertices, false};
}
template class ReduceVertexCloud<double>;
template class ReduceVertexCloud<storm::RationalNumber>;
}
}
}

13
src/storm/storage/geometry/ReduceVertexCloud.h
View File

@ -10,17 +10,24 @@ namespace storm {
template<typename ValueType>
class ReduceVertexCloud {
public:
ReduceVertexCloud(std::shared_ptr<storm::utility::solver::SmtSolverFactory>& smtSolverFactory, ValueType wiggle = storm::utility::convertNumber<ValueType>(0.001))
: smtSolverFactory(smtSolverFactory), wiggle(wiggle)
/*!
*
* @param smtSolverFactory
* @param wiggle
* @param timeout: Maximal time in milliseconds, 0 is no timeout
*/
ReduceVertexCloud(std::shared_ptr<storm::utility::solver::SmtSolverFactory>& smtSolverFactory, ValueType wiggle = storm::utility::convertNumber<ValueType>(0.0), uint64_t timeout = 0)
: smtSolverFactory(smtSolverFactory), wiggle(wiggle), timeOut(timeout)
{
}
storm::storage::BitVector eliminate(std::vector<std::map<uint64_t, ValueType>> const& input, uint64_t maxdimension);
std::pair<storm::storage::BitVector,bool> eliminate(std::vector<std::map<uint64_t, ValueType>> const& input, uint64_t maxdimension);
private:
std::shared_ptr<storm::utility::solver::SmtSolverFactory>& smtSolverFactory;
ValueType wiggle;
uint64_t timeOut;
};

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