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POMDP: Filling the statistics struct with information. Also incorporated aborting (SIGTERM, i.e. CTRL+C)

main
Tim Quatmann 6 years ago
parent
9d7b447b56
commit
e76efd14d5
2 changed files with 122 additions and 22 deletions
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  1. 128
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
  2. 10
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.h

128
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
View File

@ -22,6 +22,7 @@
#include "storm-parsers/api/storm-parsers.h"
#include "storm/utility/macros.h"
#include "storm/utility/SignalHandler.h"
#include "storm/exceptions/NotSupportedException.h"
namespace storm {
@ -36,6 +37,10 @@ namespace storm {
numericPrecision = storm::NumberTraits<ValueType>::IsExact ? storm::utility::zero<ValueType>() : storm::utility::convertNumber<ValueType>(1e-9);
cacheSubsimplices = false;
}
template<typename ValueType, typename RewardModelType>
ApproximatePOMDPModelchecker<ValueType, RewardModelType>::Statistics::Statistics() : overApproximationBuildAborted(false), underApproximationBuildAborted(false), aborted(false) {
// intentionally left empty;
}
template<typename ValueType, typename RewardModelType>
ApproximatePOMDPModelchecker<ValueType, RewardModelType>::ApproximatePOMDPModelchecker(storm::models::sparse::Pomdp<ValueType, RewardModelType> const& pomdp, Options options) : pomdp(pomdp), options(options) {
@ -44,6 +49,10 @@ namespace storm {
template<typename ValueType, typename RewardModelType>
std::unique_ptr<POMDPCheckResult<ValueType>> ApproximatePOMDPModelchecker<ValueType, RewardModelType>::check(storm::logic::Formula const& formula) {
// Reset all collected statistics
statistics = Statistics();
std::unique_ptr<POMDPCheckResult<ValueType>> result;
// Extract the relevant information from the formula
auto formulaInfo = storm::pomdp::analysis::getFormulaInformation(pomdp, formula);
if (formulaInfo.isNonNestedReachabilityProbability()) {
// FIXME: Instead of giving up, introduce a new observation for target states and make sink states absorbing.
@ -54,23 +63,27 @@ namespace storm {
STORM_LOG_THROW(reachableFromSinkStates.empty(), storm::exceptions::NotSupportedException, "There are sink states that can reach non-sink states. This is currently not supported");
}
if (options.doRefinement) {
return refineReachability(formulaInfo.getTargetStates().observations, formulaInfo.minimize(), false);
result = refineReachability(formulaInfo.getTargetStates().observations, formulaInfo.minimize(), false);
} else {
return computeReachabilityProbabilityOTF(formulaInfo.getTargetStates().observations, formulaInfo.minimize());
result = computeReachabilityProbabilityOTF(formulaInfo.getTargetStates().observations, formulaInfo.minimize());
}
} else if (formulaInfo.isNonNestedExpectedRewardFormula()) {
// FIXME: Instead of giving up, introduce a new observation for target states and make sink states absorbing.
STORM_LOG_THROW(formulaInfo.getTargetStates().observationClosed, storm::exceptions::NotSupportedException, "There are non-target states with the same observation as a target state. This is currently not supported");
if (options.doRefinement) {
return refineReachability(formulaInfo.getTargetStates().observations, formulaInfo.minimize(), true);
result = refineReachability(formulaInfo.getTargetStates().observations, formulaInfo.minimize(), true);
} else {
// FIXME: pick the non-unique reward model here
STORM_LOG_THROW(pomdp.hasUniqueRewardModel(), storm::exceptions::NotSupportedException, "Non-unique reward models not implemented yet.");
return computeReachabilityRewardOTF(formulaInfo.getTargetStates().observations, formulaInfo.minimize());
result = computeReachabilityRewardOTF(formulaInfo.getTargetStates().observations, formulaInfo.minimize());
}
} else {
STORM_LOG_THROW(false, storm::exceptions::NotSupportedException, "Unsupported formula '" << formula << "'.");
}
if (storm::utility::resources::isTerminate()) {
statistics.aborted = true;
}
return result;
}
template<typename ValueType, typename RewardModelType>
@ -100,8 +113,23 @@ namespace storm {
stream << ">=";
}
stream << statistics.overApproximationStates.get() << std::endl;
stream << "# Time spend for building the grid MDP(s): " << statistics.overApproximationBuildTime << std::endl;
stream << "# Time spend for checking the grid MDP(s): " << statistics.overApproximationCheckTime << std::endl;
stream << "# Time spend for building the over-approx grid MDP(s): " << statistics.overApproximationBuildTime << std::endl;
stream << "# Time spend for checking the over-approx grid MDP(s): " << statistics.overApproximationCheckTime << std::endl;
}
// The underapproximation MDP:
if (statistics.underApproximationStates) {
stream << "# Number of states in the ";
if (options.doRefinement) {
stream << "final ";
}
stream << "grid MDP for the under-approximation: ";
if (statistics.underApproximationBuildAborted) {
stream << ">=";
}
stream << statistics.underApproximationStates.get() << std::endl;
stream << "# Time spend for building the under-approx grid MDP(s): " << statistics.underApproximationBuildTime << std::endl;
stream << "# Time spend for checking the under-approx grid MDP(s): " << statistics.underApproximationCheckTime << std::endl;
}
stream << "##########################################" << std::endl;
@ -183,9 +211,16 @@ namespace storm {
std::shared_ptr<RefinementComponents<ValueType>> res = computeFirstRefinementStep(targetObservations, min, observationResolutionVector, computeRewards,
initialOverApproxMap,
initialUnderApproxMap, underApproxModelSize);
if (res == nullptr) {
statistics.refinementSteps = 0;
return nullptr;
}
ValueType lastMinScore = storm::utility::infinity<ValueType>();
while (refinementCounter < 1000 && ((!min && res->overApproxValue - res->underApproxValue > options.refinementPrecision) ||
(min && res->underApproxValue - res->overApproxValue > options.refinementPrecision))) {
if (storm::utility::resources::isTerminate()) {
break;
}
// TODO the actual refinement
// choose which observation(s) to refine
std::vector<ValueType> obsAccumulator(pomdp.getNrObservations(), storm::utility::zero<ValueType>());
@ -265,7 +300,7 @@ namespace storm {
"The value for the under-approximation is larger than the value for the over-approximation.");
++refinementCounter;
}
statistics.refinementSteps = refinementCounter;
return std::make_unique<POMDPCheckResult<ValueType>>(POMDPCheckResult<ValueType>{res->overApproxValue, res->underApproxValue});
}
@ -280,6 +315,9 @@ namespace storm {
STORM_PRINT("Use On-The-Fly Grid Generation" << std::endl)
auto result = computeFirstRefinementStep(targetObservations, min, observationResolutionVector, computeRewards, overApproximationMap,
underApproximationMap, maxUaModelSize);
if (result == nullptr) {
return nullptr;
}
return std::make_unique<POMDPCheckResult<ValueType>>(POMDPCheckResult<ValueType>{result->overApproxValue, result->underApproxValue});
}
@ -313,7 +351,7 @@ namespace storm {
// current ID -> action -> reward
std::map<uint64_t, std::vector<ValueType>> beliefActionRewards;
uint64_t nextId = 0;
storm::utility::Stopwatch expansionTimer(true);
statistics.overApproximationBuildTime.start();
// Initial belief always has belief ID 0
storm::pomdp::Belief<ValueType> initialBelief = getInitialBelief(nextId);
++nextId;
@ -512,10 +550,18 @@ namespace storm {
}
mdpTransitions.push_back(transitionsInBelief);
}
if (storm::utility::resources::isTerminate()) {
statistics.overApproximationBuildAborted = true;
break;
}
}
statistics.overApproximationStates = mdpTransitions.size();
STORM_PRINT("Grid size: " << beliefGrid.size() << std::endl);
STORM_PRINT("Over Approximation MDP build took " << statistics.overApproximationBuildTime << " seconds." << std::endl);
if (storm::utility::resources::isTerminate()) {
statistics.overApproximationBuildTime.stop();
return nullptr;
}
expansionTimer.stop();
STORM_PRINT("Grid size: " << beliefGrid.size() << std::endl)
STORM_PRINT("Belief space expansion took " << expansionTimer << std::endl)
storm::models::sparse::StateLabeling mdpLabeling(mdpTransitions.size());
mdpLabeling.addLabel("init");
@ -541,6 +587,8 @@ namespace storm {
overApproxMdp.addRewardModel("std", mdpRewardModel);
overApproxMdp.restrictRewardModels(std::set<std::string>({"std"}));
}
statistics.overApproximationBuildTime.stop();
STORM_PRINT("Over Approximation MDP build took " << statistics.overApproximationBuildTime << " seconds." << std::endl);
overApproxMdp.printModelInformationToStream(std::cout);
auto model = std::make_shared<storm::models::sparse::Mdp<ValueType, RewardModelType>>(overApproxMdp);
@ -555,19 +603,26 @@ namespace storm {
hint.setResultHint(hintVector);
auto hintPtr = std::make_shared<storm::modelchecker::ExplicitModelCheckerHint<ValueType>>(hint);
task.setHint(hintPtr);
storm::utility::Stopwatch overApproxTimer(true);
statistics.overApproximationCheckTime.start();
std::unique_ptr<storm::modelchecker::CheckResult> res(storm::api::verifyWithSparseEngine<ValueType>(model, task));
overApproxTimer.stop();
STORM_LOG_ASSERT(res, "Result not exist.");
statistics.overApproximationCheckTime.stop();
if (storm::utility::resources::isTerminate() && !res) {
return nullptr;
}
STORM_LOG_ASSERT(res, "Result does not exist.");
res->filter(storm::modelchecker::ExplicitQualitativeCheckResult(storm::storage::BitVector(overApproxMdp.getNumberOfStates(), true)));
auto overApproxResultMap = res->asExplicitQuantitativeCheckResult<ValueType>().getValueMap();
auto overApprox = overApproxResultMap[beliefStateMap.left.at(initialBelief.id)];
STORM_PRINT("Time Overapproximation: " << overApproxTimer << std::endl)
STORM_PRINT("Time Overapproximation: " << statistics.overApproximationCheckTime << " seconds." << std::endl);
//auto underApprox = weightedSumUnderMap[initialBelief.id];
auto underApproxComponents = computeUnderapproximation(beliefList, beliefIsTarget, targetObservations, initialBelief.id, min, computeRewards,
maxUaModelSize);
STORM_PRINT("Over-Approximation Result: " << overApprox << std::endl);
if (storm::utility::resources::isTerminate() && !underApproxComponents) {
return std::make_unique<RefinementComponents<ValueType>>(
RefinementComponents<ValueType>{modelPtr, overApprox, 0, overApproxResultMap, {}, beliefList, beliefGrid, beliefIsTarget, beliefStateMap, {}, initialBelief.id});
}
STORM_PRINT("Under-Approximation Result: " << underApproxComponents->underApproxValue << std::endl);
return std::make_unique<RefinementComponents<ValueType>>(
@ -601,6 +656,8 @@ namespace storm {
std::map<uint64_t, ValueType> weightedSumOverMap;
std::map<uint64_t, ValueType> weightedSumUnderMap;
statistics.overApproximationBuildTime.start();
uint64_t nextBeliefId = refinementComponents->beliefList.size();
uint64_t nextStateId = refinementComponents->overApproxModelPtr->getNumberOfStates();
std::set<uint64_t> relevantStates;
@ -788,8 +845,18 @@ namespace storm {
}
}
}
if (storm::utility::resources::isTerminate()) {
statistics.overApproximationBuildAborted = true;
break;
}
}
statistics.overApproximationStates = nextStateId;
if (storm::utility::resources::isTerminate()) {
statistics.overApproximationBuildTime.stop();
// Return the result from the old refinement step
return refinementComponents;
}
storm::models::sparse::StateLabeling mdpLabeling(nextStateId);
mdpLabeling.addLabel("init");
mdpLabeling.addLabel("target");
@ -853,6 +920,8 @@ namespace storm {
overApproxMdp.restrictRewardModels(std::set<std::string>({"std"}));
}
overApproxMdp.printModelInformationToStream(std::cout);
statistics.overApproximationBuildTime.stop();
STORM_PRINT("Over Approximation MDP build took " << statistics.overApproximationBuildTime << " seconds." << std::endl);
auto model = std::make_shared<storm::models::sparse::Mdp<ValueType, RewardModelType>>(overApproxMdp);
auto modelPtr = std::static_pointer_cast<storm::models::sparse::Model<ValueType, RewardModelType>>(model);
@ -862,19 +931,26 @@ namespace storm {
std::vector<storm::jani::Property> propertyVector = storm::api::parseProperties(propertyString);
std::shared_ptr<storm::logic::Formula const> property = storm::api::extractFormulasFromProperties(propertyVector).front();
auto task = storm::api::createTask<ValueType>(property, false);
storm::utility::Stopwatch overApproxTimer(true);
statistics.overApproximationCheckTime.start();
std::unique_ptr<storm::modelchecker::CheckResult> res(storm::api::verifyWithSparseEngine<ValueType>(model, task));
overApproxTimer.stop();
statistics.overApproximationCheckTime.stop();
if (storm::utility::resources::isTerminate() && !res) {
return refinementComponents; // Return the result from the previous iteration
}
STORM_PRINT("Time Overapproximation: " << statistics.overApproximationCheckTime << std::endl)
STORM_LOG_ASSERT(res, "Result not exist.");
res->filter(storm::modelchecker::ExplicitQualitativeCheckResult(storm::storage::BitVector(overApproxMdp.getNumberOfStates(), true)));
auto overApproxResultMap = res->asExplicitQuantitativeCheckResult<ValueType>().getValueMap();
auto overApprox = overApproxResultMap[refinementComponents->overApproxBeliefStateMap.left.at(refinementComponents->initialBeliefId)];
STORM_PRINT("Time Overapproximation: " << overApproxTimer << std::endl)
//auto underApprox = weightedSumUnderMap[initialBelief.id];
auto underApproxComponents = computeUnderapproximation(refinementComponents->beliefList, refinementComponents->beliefIsTarget, targetObservations,
refinementComponents->initialBeliefId, min, computeRewards, maxUaModelSize);
STORM_PRINT("Over-Approximation Result: " << overApprox << std::endl);
if (storm::utility::resources::isTerminate() && !underApproxComponents) {
return std::make_unique<RefinementComponents<ValueType>>(
RefinementComponents<ValueType>{modelPtr, overApprox, refinementComponents->underApproxValue, overApproxResultMap, {}, refinementComponents->beliefList, refinementComponents->beliefGrid, refinementComponents->beliefIsTarget, refinementComponents->overApproxBeliefStateMap, {}, refinementComponents->initialBeliefId});
}
STORM_PRINT("Under-Approximation Result: " << underApproxComponents->underApproxValue << std::endl);
return std::make_shared<RefinementComponents<ValueType>>(
@ -918,6 +994,7 @@ namespace storm {
uint64_t nextId = beliefList.size();
uint64_t counter = 0;
statistics.underApproximationBuildTime.start();
// Expand the believes
visitedBelieves.insert(initialBeliefId);
believesToBeExpanded.push_back(initialBeliefId);
@ -958,6 +1035,15 @@ namespace storm {
transitions.push_back(actionTransitionStorage);
}
believesToBeExpanded.pop_front();
if (storm::utility::resources::isTerminate()) {
statistics.underApproximationBuildAborted = true;
break;
}
}
statistics.underApproximationStates = transitions.size();
if (storm::utility::resources::isTerminate()) {
statistics.underApproximationBuildTime.stop();
return nullptr;
}
storm::models::sparse::StateLabeling labeling(transitions.size());
@ -993,6 +1079,7 @@ namespace storm {
model = std::make_shared<storm::models::sparse::Mdp<ValueType, RewardModelType>>(underApproxMdp);
model->printModelInformationToStream(std::cout);
statistics.underApproximationBuildTime.stop();
std::string propertyString;
if (computeRewards) {
@ -1003,7 +1090,12 @@ namespace storm {
std::vector<storm::jani::Property> propertyVector = storm::api::parseProperties(propertyString);
std::shared_ptr<storm::logic::Formula const> property = storm::api::extractFormulasFromProperties(propertyVector).front();
statistics.underApproximationCheckTime.start();
std::unique_ptr<storm::modelchecker::CheckResult> res(storm::api::verifyWithSparseEngine<ValueType>(model, storm::api::createTask<ValueType>(property, false)));
statistics.underApproximationCheckTime.stop();
if (storm::utility::resources::isTerminate() && !res) {
return nullptr;
}
STORM_LOG_ASSERT(res, "Result does not exist.");
res->filter(storm::modelchecker::ExplicitQualitativeCheckResult(storm::storage::BitVector(underApproxMdp.getNumberOfStates(), true)));
auto underApproxResultMap = res->asExplicitQuantitativeCheckResult<ValueType>().getValueMap();

10
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.h
View File

@ -243,11 +243,19 @@ namespace storm {
ValueType getRewardAfterAction(uint64_t action, storm::pomdp::Belief<ValueType> &belief);
struct Statistics {
Statistics();
boost::optional<uint64_t> refinementSteps;
boost::optional<uint64_t> overApproximationStates;
bool overApproximationBuildAborted;
storm::utility::Stopwatch overApproximationBuildTime;
storm::utility::Stopwatch overApproximationCheckTime;
boost::optional<uint64_t> refinementSteps;
boost::optional<uint64_t> underApproximationStates;
bool underApproximationBuildAborted;
storm::utility::Stopwatch underApproximationBuildTime;
storm::utility::Stopwatch underApproximationCheckTime;
bool aborted;
};
Statistics statistics;

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