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Fixed tracker

tempestpy_adaptions
Sebastian Junges 4 years ago
parent
3c682057ea
commit
bf4a7fca3b
2 changed files with 86 additions and 13 deletions
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  1. 91
      src/storm-pomdp/generator/NondeterministicBeliefTracker.cpp
  2. 8
      src/storm-pomdp/generator/NondeterministicBeliefTracker.h

91
src/storm-pomdp/generator/NondeterministicBeliefTracker.cpp
View File

@ -35,20 +35,28 @@ namespace storm {
riskPerState = risk;
}
template<typename ValueType>
uint64_t BeliefStateManager<ValueType>::getFreshId() {
beliefIdCounter++;
std::cout << "provide " << beliefIdCounter;
return beliefIdCounter;
}
template<typename ValueType>
SparseBeliefState<ValueType>::SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, uint64_t state)
: manager(manager), belief()
: manager(manager), belief(), id(0), prevId(0)
{
id = manager->getFreshId();
belief[state] = storm::utility::one<ValueType>();
risk = manager->getRisk(state);
}
template<typename ValueType>
SparseBeliefState<ValueType>::SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, std::map<uint64_t, ValueType> const& belief,
std::size_t hash, ValueType const& risk)
: manager(manager), belief(belief), prestoredhash(hash), risk(risk)
std::size_t hash, ValueType const& risk, uint64_t prevId)
: manager(manager), belief(belief), prestoredhash(hash), risk(risk), id(0), prevId(prevId)
{
// Intentionally left empty
id = manager->getFreshId();
}
template<typename ValueType>
@ -74,6 +82,7 @@ namespace storm {
template<typename ValueType>
std::string SparseBeliefState<ValueType>::toString() const {
std::stringstream sstr;
sstr << "id: " << id << "; ";
bool first = true;
for (auto const& beliefentry : belief) {
if (!first) {
@ -83,6 +92,7 @@ namespace storm {
}
sstr << beliefentry.first << " : " << beliefentry.second;
}
sstr << " (from " << prevId << ")";
return sstr.str();
}
@ -137,7 +147,67 @@ namespace storm {
boost::hash_combine(newHash, entry.first);
risk += entry.second * manager->getRisk(entry.first);
}
return SparseBeliefState<ValueType>(manager, newBelief, newHash, risk);
return SparseBeliefState<ValueType>(manager, newBelief, newHash, risk, id);
}
template<typename ValueType>
void SparseBeliefState<ValueType>::update(uint32_t newObservation, std::unordered_set<SparseBeliefState<ValueType>>& previousBeliefs) const {
updateHelper({{}}, {storm::utility::zero<ValueType>()}, belief.begin(), newObservation, previousBeliefs);
}
template<typename ValueType>
void SparseBeliefState<ValueType>::updateHelper(std::vector<std::map<uint64_t, ValueType>> const& partialBeliefs, std::vector<ValueType> const& sums, typename std::map<uint64_t, ValueType>::const_iterator nextStateIt, uint32_t newObservation, std::unordered_set<SparseBeliefState<ValueType>>& previousBeliefs) const {
if(nextStateIt == belief.end()) {
for (uint64_t i = 0; i < partialBeliefs.size(); ++i) {
auto const& partialBelief = partialBeliefs[i];
auto const& sum = sums[i];
if (storm::utility::isZero(sum)) {
continue;
}
std::size_t newHash = 0;
ValueType risk = storm::utility::zero<ValueType>();
std::map<uint64_t, ValueType> finalBelief;
for (auto &entry : partialBelief) {
assert(!storm::utility::isZero(sum));
finalBelief[entry.first] = entry.second / sum;
//boost::hash_combine(newHash, std::hash<ValueType>()(entry.second));
boost::hash_combine(newHash, entry.first);
risk += entry.second / sum * manager->getRisk(entry.first);
}
previousBeliefs.insert(SparseBeliefState<ValueType>(manager, finalBelief, newHash, risk, id));
}
} else {
uint64_t state = nextStateIt->first;
auto newNextStateIt = nextStateIt;
newNextStateIt++;
std::vector<std::map<uint64_t, ValueType>> newPartialBeliefs;
std::vector<ValueType> newSums;
for (uint64_t i = 0; i < partialBeliefs.size(); ++i) {
for (auto row = manager->getPomdp().getNondeterministicChoiceIndices()[state];
row < manager->getPomdp().getNondeterministicChoiceIndices()[state + 1]; ++row) {
std::map<uint64_t, ValueType> newPartialBelief = partialBeliefs[i];
ValueType newSum = sums[i];
for (auto const &transition : manager->getPomdp().getTransitionMatrix().getRow(row)) {
if (newObservation != manager->getPomdp().getObservation(transition.getColumn())) {
continue;
}
if (newPartialBelief.count(transition.getColumn()) == 0) {
newPartialBelief[transition.getColumn()] = transition.getValue() * nextStateIt->second;
} else {
newPartialBelief[transition.getColumn()] += transition.getValue() * nextStateIt->second;
}
newSum += transition.getValue() * nextStateIt->second;
}
newPartialBeliefs.push_back(newPartialBelief);
newSums.push_back(newSum);
}
}
updateHelper(newPartialBeliefs, newSums, newNextStateIt, newObservation, previousBeliefs);
}
}
@ -164,14 +234,11 @@ namespace storm {
bool NondeterministicBeliefTracker<ValueType, BeliefState>::track(uint64_t newObservation) {
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) {
for (auto const& belief : beliefs) {
auto newBelief = belief.update(action, newObservation);
if (newBelief.isValid()) {
newBeliefs.insert(newBelief);
}
}
//for (uint64_t action = 0; action < manager->getActionsForObservation(lastObservation); ++action) {
for (auto const& belief : beliefs) {
belief.update(newObservation, newBeliefs);
}
//}
beliefs = newBeliefs;
lastObservation = newObservation;
return !beliefs.empty();

8
src/storm-pomdp/generator/NondeterministicBeliefTracker.h
View File

@ -11,10 +11,12 @@ namespace storm {
uint64_t getActionsForObservation(uint32_t observation) const;
ValueType getRisk(uint64_t) const;
void setRiskPerState(std::vector<ValueType> const& risk);
uint64_t getFreshId();
private:
storm::models::sparse::Pomdp<ValueType> const& pomdp;
std::vector<ValueType> riskPerState;
std::vector<uint64_t> numberActionsPerObservation;
uint64_t beliefIdCounter = 0;
};
template<typename ValueType>
@ -26,6 +28,7 @@ namespace storm {
public:
SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, uint64_t state);
SparseBeliefState update(uint64_t action, uint32_t observation) const;
void update(uint32_t newObservation, std::unordered_set<SparseBeliefState>& previousBeliefs) const;
std::size_t hash() const noexcept;
ValueType get(uint64_t state) const;
ValueType getRisk() const;
@ -34,12 +37,15 @@ namespace storm {
friend bool operator==<>(SparseBeliefState<ValueType> const& lhs, SparseBeliefState<ValueType> const& rhs);
private:
SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, std::map<uint64_t, ValueType> const& belief, std::size_t newHash, ValueType const& risk);
void updateHelper(std::vector<std::map<uint64_t, ValueType>> const& partialBeliefs, std::vector<ValueType> const& sums, typename std::map<uint64_t, ValueType>::const_iterator nextStateIt, uint32_t newObservation, std::unordered_set<SparseBeliefState<ValueType>>& previousBeliefs) const;
SparseBeliefState(std::shared_ptr<BeliefStateManager<ValueType>> const& manager, std::map<uint64_t, ValueType> const& belief, std::size_t newHash, ValueType const& risk, uint64_t prevId);
std::shared_ptr<BeliefStateManager<ValueType>> manager;
std::map<uint64_t, ValueType> belief; // map is ordered for unique hashing.
std::size_t prestoredhash = 0;
ValueType risk;
uint64_t id;
uint64_t prevId;
};

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