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mdp update

add_velocity_into_framework
sp 6 months ago
parent
6fce864656
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3d05a4aeda
1 changed files with 118 additions and 14 deletions
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  1. 128
      velocity_safety_no_formulas.prism

128
velocity_safety_no_formulas.prism
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@ -4,7 +4,8 @@ const int initY = 40;
const int initX = 80;
//const int maxY = 580;
const int maxY = 300;
//const int maxY = 430;
const int maxY = 200;
const int minX = 10;
const int maxX = 152;
const int maxVel = 8;
@ -16,6 +17,12 @@ formula Gate_3 = (((80<x & x<88) | (112<x & x<120)) & 349<y & y<357);
formula Gate_4 = (((54<x & x<62) | (88<x & x<96)) & 442<y & y<450);
formula Gate_5 = (((80<x & x<88) | (112<x & x<120)) & 530<y & y<538);
formula S_Gate_1 = (((32<x & x<60) | (64<x & x<92)) & 124<y & y<172);
formula S_Gate_2 = (((62<x & x<90) | (94<x & x<132)) & 216<y & y<264);
formula S_Gate_3 = (((70<x & x<98) | (102<x & x<130)) & 309<y & y<357);
formula S_Gate_4 = (((44<x & x<72) | (78<x & x<106)) & 402<y & y<450);
formula S_Gate_5 = (((70<x & x<98) | (102<x & x<130)) & 490<y & y<538);
formula Tree_1 = ((x>=124 & x<=142) & (y>=190 & y<=200));
formula Tree_2 = ((x>=32 & x<=49) & (y>=284 & y<=295));
@ -24,26 +31,114 @@ formula Tree_4 = ((x>=12 & x<=30) & (y>=408 & y<=418));
formula Tree_5 = ((x>=129 & x<=146) & (y>=468 & y<=480));
formula Tree_6 = ((x>=140 & x<=152) & (y>=496 & y<=510));
formula S_Tree_1 = ((x>=114 & x<=152) & (y>=150 & y<=200));
formula S_Tree_2 = ((x>=22 & x<=59) & (y>=244 & y<=295));
formula S_Tree_3 = ((x>=20 & x<=59) & (y>=277 & y<=327));
formula S_Tree_4 = ((x>=2 & x<=40) & (y>=368 & y<=418));
formula S_Tree_5 = ((x>=119 & x<=156) & (y>=438 & y<=480));
formula S_Tree_6 = ((x>=130 & x<=162) & (y>=456 & y<=510));
formula Hit_Tree = Tree_1 | Tree_2 | Tree_3 | Tree_4 | Tree_5 | Tree_6;
formula Hit_Gate = Gate_1 | Gate_2 | Gate_3 | Gate_4 | Gate_5;
formula S_Hit_Tree = S_Tree_1 | S_Tree_2 | S_Tree_3 | S_Tree_4 | S_Tree_5 | S_Tree_6;
formula S_Hit_Gate = S_Gate_1 | S_Gate_2 | S_Gate_3 | S_Gate_4 | S_Gate_5;
label "Hit_Tree" = Hit_Tree;
label "Hit_Gate" = Hit_Gate;
label "S_Hit_Tree" = S_Hit_Tree;
label "S_Hit_Gate" = S_Hit_Gate;
global move : [0..3];
module skier
ski_position : [1..8] init 4;
done : bool init false;
[left] !done & !Safe & !Unsafe & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !done & !Safe & !Unsafe & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !done & !Safe & !Unsafe & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
module skier
ski_position : [1..8] init 4;
reward_given: bool init false;
//done: bool init false;
[left] !reward_given & !Safe_1 & !Unsafe_1 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_1 & !Unsafe_1 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_1 & !Unsafe_1 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_1 | Unsafe_1 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_1 | Unsafe_1 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_1 | Unsafe_1 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_2 & !Unsafe_2 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_2 & !Unsafe_2 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_2 & !Unsafe_2 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_2 | Unsafe_2 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_2 | Unsafe_2 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_2 | Unsafe_2 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_3 & !Unsafe_3 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_3 & !Unsafe_3 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_3 & !Unsafe_3 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_3 | Unsafe_3 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_3 | Unsafe_3 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_3 | Unsafe_3 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_4 & !Unsafe_4 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_4 & !Unsafe_4 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_4 & !Unsafe_4 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_4 | Unsafe_4 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_4 | Unsafe_4 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_4 | Unsafe_4 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_5 & !Unsafe_5 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_5 & !Unsafe_5 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_5 & !Unsafe_5 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_5 | Unsafe_5 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_5 | Unsafe_5 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_5 | Unsafe_5 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_6 & !Unsafe_6 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_6 & !Unsafe_6 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_6 & !Unsafe_6 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_6 | Unsafe_6 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_6 | Unsafe_6 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_6 | Unsafe_6 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_7 & !Unsafe_7 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_7 & !Unsafe_7 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_7 & !Unsafe_7 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_7 | Unsafe_7 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_7 | Unsafe_7 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_7 | Unsafe_7 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
[left] !reward_given & !Safe_8 & !Unsafe_8 & !Hit_Gate & !Hit_Tree & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1);
[right] !reward_given & !Safe_8 & !Unsafe_8 & !Hit_Gate & !Hit_Tree & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1);
[noop] !reward_given & !Safe_8 & !Unsafe_8 & !Hit_Gate & !Hit_Tree & move=0 -> (move'=1);
//[left] !reward_given & (Safe_8 | Unsafe_8 | Hit_Tree | Hit_Gate) & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (reward_given'=true);
//[right] !reward_given & (Safe_8 | Unsafe_8 | Hit_Tree | Hit_Gate) & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (reward_given'=true);
//[noop] !reward_given & (Safe_8 | Unsafe_8 | Hit_Tree | Hit_Gate) & move=0 -> (move'=1) & (reward_given'=true);
//[left] reward_given & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (done'=true);
//[right] reward_given & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (done'=true);
//[noop] reward_given & move=0 -> (move'=1) & (done'=true);
[done] !reward_given & (Hit_Tree | Hit_Gate) & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_1 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_2 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_3 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_4 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_5 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_6 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_7 & move=0 -> (reward_given'=true);
[done] !reward_given & Unsafe_8 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_1 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_2 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_3 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_4 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_5 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_6 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_7 & move=0 -> (reward_given'=true);
[done] !reward_given & Safe_8 & move=0 -> (reward_given'=true);
[done] move=0 & (Safe | Unsafe | Hit_Tree | Hit_Gate) -> (done'=true);
endmodule
module updateY
@ -77,9 +172,18 @@ module updateX
[update_x] move=3 & standstill<8 & (ski_position=8) -> 0.2: (x'=min(maxX,x+2)) & (move'=0) + 0.8: (x'=min(maxX,x+3)) & (move'=0);
endmodule
//rewards
// [left] !done & !reward_given & Hit_Tree : -100;
// [left] !done & !reward_given & Hit_Gate : -100;
// [left] !done & !reward_given & (Unsafe_1 | Unsafe_2 | Unsafe_3 | Unsafe_4 | Unsafe_5 | Unsafe_6 | Unsafe_7 | Unsafe_8) : -100;
// [right] !done & !reward_given & Hit_Tree : -100;
// [right] !done & !reward_given & Hit_Gate : -100;
// [right] !done & !reward_given & (Unsafe_1 | Unsafe_2 | Unsafe_3 | Unsafe_4 | Unsafe_5 | Unsafe_6 | Unsafe_7 | Unsafe_8) : -100;
// [noop] !done & !reward_given & Hit_Tree : -100;
// [noop] !done & !reward_given & Hit_Gate : -100;
// [noop] !done & !reward_given & (Unsafe_1 | Unsafe_2 | Unsafe_3 | Unsafe_4 | Unsafe_5 | Unsafe_6 | Unsafe_7 | Unsafe_8) : -100;
//endrewards
rewards
[done] !done & Hit_Tree : -100;
[done] !done & Hit_Gate : -100;
[done] !done & Unsafe : -100;
[done] !reward_given & (Hit_Gate | Hit_Tree | (Unsafe_1 | Unsafe_2 | Unsafe_3 | Unsafe_4 | Unsafe_5 | Unsafe_6 | Unsafe_7 | Unsafe_8)) : -100;
endrewards
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