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Wrong method for underapproximation for future reference

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Alexander Bork 6 years ago
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4bbb02dcaa
2 changed files with 179 additions and 6 deletions
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  1. 182
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
  2. 3
      src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.h

182
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.cpp
View File

@ -258,12 +258,8 @@ namespace storm {
if (isTarget) {
// Depending on whether we compute rewards, we select the right initial result
// MDP stuff
std::vector<std::map<uint64_t, ValueType>> transitionsInBelief;
targetStates.push_back(beliefStateMap.left.at(currId));
std::map<uint64_t, ValueType> transitionInActionBelief;
transitionInActionBelief[beliefStateMap.left.at(currId)] = storm::utility::one<ValueType>();
transitionsInBelief.push_back(transitionInActionBelief);
mdpTransitions.push_back(transitionsInBelief);
mdpTransitions.push_back({{{beliefStateMap.left.at(currId), storm::utility::one<ValueType>()}}});
} else {
uint64_t representativeState = pomdp.getStatesWithObservation(beliefList[currId].observation).front();
uint64_t numChoices = pomdp.getNumberOfChoices(representativeState);
@ -417,6 +413,182 @@ namespace storm {
auto overApprox = overApproxResultMap[beliefStateMap.left.at(initialBelief.id)];
STORM_PRINT("Time Overapproximation: " << overApproxTimer << std::endl)
// Prototypical implementation of the underapproximation - WRONG
/*
// The map has the following form: (beliefId, action) --> stateId
uamap_type uaStateMap;
// Reserve states 0 and 1 as always sink/goal states
std::map<uint64_t, std::vector<std::map<uint64_t, ValueType>>> uaTransitions = {{0,{{{0, storm::utility::one<ValueType>()}}}},
{1,{{{1, storm::utility::one<ValueType>()}}}}};
// Hint vector for the MDP modelchecker (initialize with constant sink/goal values)
std::vector<uint64_t> uaTargetStates = {1};
uint64_t uaStateId = 2;
// for beliefs which are both in the actual belief support and the grid, we use the max value for the action to indicate the support belief
uaStateMap.insert(uamap_type::value_type(std::make_pair(initialBelief.id, std::numeric_limits<uint64_t>::max()), uaStateId));
++uaStateId;
beliefsToBeExpanded.push_back(initialBelief.id);
while(!beliefsToBeExpanded.empty()){
uint64_t currId = beliefsToBeExpanded.front();
beliefsToBeExpanded.pop_front();
bool isTarget = beliefIsTarget[currId];
if(isTarget){
// For target states we add a self-loop
uaTargetStates.push_back(uaStateMap.left.at(std::make_pair(currId, std::numeric_limits<uint64_t>::max())));
uaTransitions[uaStateMap.left.at(std::make_pair(currId, std::numeric_limits<uint64_t>::max()))] = {{{uaStateMap.left.at(std::make_pair(currId, std::numeric_limits<uint64_t>::max())), storm::utility::one<ValueType>()}}};
} else {
uint64_t numChoices = pomdp.getNumberOfChoices(pomdp.getStatesWithObservation(beliefList[currId].observation).front());
//Triangulate the current belief to determine its approximation bases
std::vector<std::vector<ValueType>> subSimplex;
std::vector<ValueType> lambdas;
if (cacheSubsimplices && subSimplexCache.count(currId) > 0) {
subSimplex = subSimplexCache[currId];
lambdas = lambdaCache[currId];
} else {
std::pair<std::vector<std::vector<ValueType>>, std::vector<ValueType>> temp = computeSubSimplexAndLambdas(
beliefList[currId].probabilities, observationResolutionVector[beliefList[currId].observation]);
subSimplex = temp.first;
lambdas = temp.second;
if(cacheSubsimplices){
subSimplexCache[currId] = subSimplex;
lambdaCache[currId] = lambdas;
}
}
std::deque<std::pair<uint64_t,uint64_t>> approxToExpand;
std::vector<std::map<uint64_t, ValueType>> approxActionTransitions(numChoices);
for (size_t j = 0; j < lambdas.size(); ++j) {
if (!cc.isEqual(lambdas[j], storm::utility::zero<ValueType>())){
uint64_t approxId = getBeliefIdInVector(beliefGrid, beliefList[currId].observation, subSimplex[j]);
//STORM_PRINT("ApproxId " << approxId << std::endl)
if (approxId == uint64_t(-1)) {
// If the approximation base is not yet in the grid, we add it and it has to be expanded
storm::pomdp::Belief<ValueType> gridBelief = {nextId, beliefList[currId].observation, subSimplex[j]};
beliefList.push_back(gridBelief);
beliefGrid.push_back(gridBelief);
beliefIsTarget.push_back(targetObservations.find(beliefList[currId].observation) != targetObservations.end());
for(uint64_t action=0; action < numChoices; ++action) {
approxToExpand.push_back(std::make_pair(nextId, action));
uaStateMap.insert(uamap_type::value_type(std::make_pair(nextId, action), uaStateId));
approxActionTransitions[action][uaStateId] = lambdas[j];
++uaStateId;
}
++nextId;
} else if(uaStateMap.left.find(std::pair<uint64_t,uint64_t>(approxId,0)) != uaStateMap.left.end()){
// we can check only for (approxId,0) as that always exists if the grid state is mapped
for(uint64_t action=0; action < numChoices; ++action) {
approxActionTransitions[action][uaStateMap.left.at(std::make_pair(approxId,action))] = lambdas[j];
}
} else {
for(uint64_t action=0; action < numChoices; ++action) {
approxToExpand.push_back(std::make_pair(approxId, action));
uaStateMap.insert(uamap_type::value_type(std::make_pair(approxId, action), uaStateId));
approxActionTransitions[action][uaStateId] = lambdas[j];
++uaStateId;
}
}
}
}
uaTransitions[uaStateMap.left.at(std::make_pair(currId,std::numeric_limits<uint64_t>::max()))] = approxActionTransitions;
// Now expand all approximation bases
while(!approxToExpand.empty()){
uint64_t approxId = approxToExpand.front().first;
uint64_t approxAction = approxToExpand.front().second;
approxToExpand.pop_front();
// Iterate over all actions and determine the successor states
std::map<uint64_t, ValueType> transitionsInAction;
std::map<uint32_t, ValueType> actionObservationProbabilities = computeObservationProbabilitiesAfterAction(pomdp, beliefList[approxId], approxAction);
for (auto iter = actionObservationProbabilities.begin(); iter != actionObservationProbabilities.end(); ++iter) {
uint32_t observation = iter->first;
uint64_t idNextBelief = getBeliefAfterActionAndObservation(pomdp, beliefList, beliefIsTarget, targetObservations, beliefList[approxId], approxAction,
observation, nextId);
nextId = beliefList.size();
if(uaStateMap.left.find(std::make_pair(idNextBelief, std::numeric_limits<uint64_t>::max())) == uaStateMap.left.end()){
// add state to the mapping and set it t be expanded
uaStateMap.insert(uamap_type::value_type(std::make_pair(idNextBelief,std::numeric_limits<uint64_t>::max()), uaStateId));
++uaStateId;
beliefsToBeExpanded.push_back(idNextBelief);
}
transitionsInAction[uaStateMap.left.at(std::make_pair(idNextBelief,std::numeric_limits<uint64_t>::max()))] = iter->second;
}
uaTransitions[uaStateMap.left.at(std::make_pair(approxId,approxAction))] = {transitionsInAction};
}
}
}
std::vector<std::vector<std::map<uint64_t, ValueType>>> uaTransitionVector;
for(auto iter = uaTransitions.begin(); iter != uaTransitions.end(); ++iter){
uaTransitionVector.push_back(iter->second);
}
STORM_PRINT(uaTransitions.size() << std::endl)
storm::models::sparse::StateLabeling uaLabeling(uaTransitions.size());
uaLabeling.addLabel("init");
uaLabeling.addLabel("target");
uaLabeling.addLabel("belief");
uaLabeling.addLabel("grid");
uaLabeling.addLabelToState("init", uaStateMap.left.at(std::make_pair(initialBelief.id,std::numeric_limits<uint64_t>::max())));
for (auto targetState : uaTargetStates) {
uaLabeling.addLabelToState("target", targetState);
}
for (auto &iter : uaStateMap.right) {
std::stringstream mapEntryStr;
mapEntryStr << std::to_string(iter.first);
mapEntryStr << " --> ";
mapEntryStr << "[{" + std::to_string(beliefList[iter.second.first].observation) << "} | " ;
for(uint64_t state = 0; state < beliefList[iter.second.first].probabilities.size(); ++state){
if(beliefList[iter.second.first].probabilities[state] > storm::utility::zero<ValueType>()){
mapEntryStr << std::to_string(state) << " : " << beliefList[iter.second.first].probabilities[state] << ", ";
}
}
mapEntryStr << "]" << std::endl;
STORM_PRINT(mapEntryStr.str());
if(!uaLabeling.containsLabel(mapEntryStr.str())){
uaLabeling.addLabel(mapEntryStr.str());
}
if(iter.second.second == std::numeric_limits<uint64_t>::max()){
uaLabeling.addLabelToState("belief", iter.first);
} else {
uaLabeling.addLabelToState("grid", iter.first);
}
uaLabeling.addLabelToState(mapEntryStr.str(), iter.first);
}
//STORM_PRINT(buildTransitionMatrix(uaTransitionVector))
storm::storage::sparse::ModelComponents<ValueType, RewardModelType> uaModelComponents(buildTransitionMatrix(uaTransitionVector), uaLabeling);
storm::models::sparse::Mdp<ValueType, RewardModelType> underApproxMdp(uaModelComponents);
if (computeRewards) {
storm::models::sparse::StandardRewardModel<ValueType> uaMdpRewardModel(boost::none, std::vector<ValueType>(uaModelComponents.transitionMatrix.getRowCount()));
for (auto const &iter : uaStateMap.left) {
auto currentBelief = beliefList[iter.first.first];
auto representativeState = pomdp.getStatesWithObservation(currentBelief.observation).front();
for (uint64_t action = 0; action < underApproxMdp.getNumberOfChoices(iter.second); ++action) {
// Add the reward
uaMdpRewardModel.setStateActionReward(overApproxMdp.getChoiceIndex(storm::storage::StateActionPair(iter.second, action)),
getRewardAfterAction(pomdp, pomdp.getChoiceIndex(storm::storage::StateActionPair(representativeState, action)),
currentBelief));
}
}
underApproxMdp.addRewardModel("std", uaMdpRewardModel);
underApproxMdp.restrictRewardModels(std::set<std::string>({"std"}));
}
underApproxMdp.printModelInformationToStream(std::cout);
auto uaModel = std::make_shared<storm::models::sparse::Mdp<ValueType, RewardModelType>>(underApproxMdp);
auto uaModelPtr = std::static_pointer_cast<storm::models::sparse::Model<ValueType, RewardModelType>>(uaModel);
storm::api::exportSparseModelAsDot(uaModelPtr, "ua_model.dot");
auto uaTask = storm::api::createTask<ValueType>(property, false);
storm::utility::Stopwatch underApproxTimer(true);
std::unique_ptr<storm::modelchecker::CheckResult> uaRes(storm::api::verifyWithSparseEngine<ValueType>(uaModelPtr, uaTask));
underApproxTimer.stop();
STORM_LOG_ASSERT(uaRes, "Result not exist.");
uaRes->filter(storm::modelchecker::ExplicitQualitativeCheckResult(storm::storage::BitVector(underApproxMdp.getNumberOfStates(), true)));
auto underApproxResultMap = uaRes->asExplicitQuantitativeCheckResult<ValueType>().getValueMap();
auto underApprox = underApproxResultMap[uaStateMap.left.at(std::make_pair(initialBelief.id, std::numeric_limits<uint64_t>::max()))];
*/
auto underApprox = weightedSumUnderMap[initialBelief.id];
STORM_PRINT("Over-Approximation Result: " << overApprox << std::endl);
STORM_PRINT("Under-Approximation Result: " << underApprox << std::endl);

3
src/storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.h
View File

@ -11,6 +11,7 @@ namespace storm {
namespace pomdp {
namespace modelchecker {
typedef boost::bimap<uint64_t, uint64_t> bsmap_type;
typedef boost::bimap<std::pair<uint64_t, uint64_t>, uint64_t> uamap_type;
template<class ValueType>
struct POMDPCheckResult {
@ -31,7 +32,7 @@ namespace storm {
std::map<uint64_t, ValueType> &underApproxMap;
std::vector<storm::pomdp::Belief<ValueType>> &beliefList;
std::vector<bool> &beliefIsTarget;
std::map<uint64_t, uint64_t> &beliefStateMap;
bsmap_type &beliefStateMap;
};
template<class ValueType, typename RewardModelType = models::sparse::StandardRewardModel<ValueType>>

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