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@ -299,7 +299,6 @@ namespace storm { |
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STORM_PRINT("Exploration threshold: " << explorationThreshold << std::endl) |
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} |
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while (!beliefsToBeExpanded.empty()) { |
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// TODO direct generation of transition matrix?
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uint64_t currId = beliefsToBeExpanded.front(); |
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beliefsToBeExpanded.pop_front(); |
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bool isTarget = beliefIsTarget[currId]; |
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@ -637,7 +636,7 @@ namespace storm { |
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// Belief ID -> ActionIndex
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std::map<uint64_t, std::vector<uint64_t>> chosenActions; |
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// Belief ID -> Observation -> Probability
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// Belief ID -> action -> Observation -> Probability
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std::map<uint64_t, std::vector<std::map<uint32_t, ValueType>>> observationProbabilities; |
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// current ID -> action -> next ID
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std::map<uint64_t, std::vector<std::map<uint32_t, uint64_t>>> nextBelieves; |
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@ -1025,7 +1024,7 @@ namespace storm { |
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storm::models::sparse::Pomdp<ValueType, RewardModelType> const &pomdp, |
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std::set<uint32_t> const &target_observations, uint64_t gridResolution, |
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std::vector<storm::pomdp::Belief<ValueType>> &beliefList, |
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std::vector<storm::pomdp::Belief<ValueType>> &grid, std::vector<bool> &beliefIsKnown, |
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std::vector<storm::pomdp::Belief<ValueType>> &grid, std::vector<bool> &beliefIsTarget, |
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uint64_t nextId) { |
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bool isTarget; |
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uint64_t newId = nextId; |
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@ -1045,7 +1044,7 @@ namespace storm { |
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<< distribution << "]"); |
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beliefList.push_back(belief); |
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grid.push_back(belief); |
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beliefIsKnown.push_back(isTarget); |
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beliefIsTarget.push_back(isTarget); |
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++newId; |
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} else { |
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// Otherwise we have to enumerate all possible distributions with regards to the grid
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@ -1073,7 +1072,7 @@ namespace storm { |
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STORM_LOG_TRACE("Add Belief " << std::to_string(newId) << " [(" << std::to_string(observation) << ")," << distribution << "]"); |
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beliefList.push_back(belief); |
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grid.push_back(belief); |
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beliefIsKnown.push_back(isTarget); |
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beliefIsTarget.push_back(isTarget); |
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if (helper[statesWithObservation.size() - 1] == |
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storm::utility::convertNumber<ValueType>(gridResolution)) { |
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// If the last entry of helper is the gridResolution, we have enumerated all necessary distributions
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@ -1175,7 +1174,16 @@ namespace storm { |
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uint64_t actionIndex) { |
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std::map<uint32_t, ValueType> res; |
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// the id is not important here as we immediately discard the belief (very hacky, I don't like it either)
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std::map<uint64_t, ValueType> postProbabilities = getBeliefAfterAction(pomdp, belief, actionIndex, 0).probabilities; |
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std::map<uint64_t, ValueType> postProbabilities; |
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for (auto const &probEntry : belief.probabilities) { |
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uint64_t state = probEntry.first; |
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auto row = pomdp.getTransitionMatrix().getRow(pomdp.getChoiceIndex(storm::storage::StateActionPair(state, actionIndex))); |
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for (auto const &entry : row) { |
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if (entry.getValue() > 0) { |
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postProbabilities[entry.getColumn()] += belief.probabilities[state] * entry.getValue(); |
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} |
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} |
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} |
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for (auto const &probEntry : postProbabilities) { |
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uint32_t observation = pomdp.getObservation(probEntry.first); |
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if (res.count(observation) == 0) { |
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@ -1212,7 +1220,6 @@ namespace storm { |
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storm::models::sparse::Pomdp<ValueType, RewardModelType> const &pomdp, std::vector<storm::pomdp::Belief<ValueType>> &beliefList, |
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std::vector<bool> &beliefIsTarget, std::set<uint32_t> const &targetObservations, storm::pomdp::Belief<ValueType> &belief, uint64_t actionIndex, |
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uint32_t observation, uint64_t id) { |
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storm::utility::Stopwatch distrWatch(true); |
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std::map<uint64_t, ValueType> distributionAfter; |
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for (auto const &probEntry : belief.probabilities) { |
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uint64_t state = probEntry.first; |
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@ -1223,9 +1230,7 @@ namespace storm { |
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} |
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} |
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} |
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distrWatch.stop(); |
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// We have to normalize the distribution
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storm::utility::Stopwatch normalizationWatch(true); |
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auto sum = storm::utility::zero<ValueType>(); |
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for (auto const &entry : distributionAfter) { |
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sum += entry.second; |
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@ -1234,19 +1239,12 @@ namespace storm { |
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for (auto const &entry : distributionAfter) { |
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distributionAfter[entry.first] /= sum; |
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} |
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normalizationWatch.stop(); |
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if (getBeliefIdInVector(beliefList, observation, distributionAfter) != uint64_t(-1)) { |
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storm::utility::Stopwatch getWatch(true); |
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auto res = getBeliefIdInVector(beliefList, observation, distributionAfter); |
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getWatch.stop(); |
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//STORM_PRINT("Distribution: "<< distrWatch.getTimeInNanoseconds() << " / Normalization: " << normalizationWatch.getTimeInNanoseconds() << " / getId: " << getWatch.getTimeInNanoseconds() << std::endl)
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return res; |
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} else { |
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storm::utility::Stopwatch pushWatch(true); |
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beliefList.push_back(storm::pomdp::Belief<ValueType>{id, observation, distributionAfter}); |
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beliefIsTarget.push_back(targetObservations.find(observation) != targetObservations.end()); |
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pushWatch.stop(); |
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//STORM_PRINT("Distribution: "<< distrWatch.getTimeInNanoseconds() << " / Normalization: " << normalizationWatch.getTimeInNanoseconds() << " / generateBelief: " << pushWatch.getTimeInNanoseconds() << std::endl)
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return id; |
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} |
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} |
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Alexander Bork
6 years ago