public static Observation makeObservationFor(POMDPDomain d, GroundedAction a, POMDPState s) {
ObjectInstance indexer = s.getObject(Names.OBJ_INDEXER);
int index = indexer.getDiscValForAttribute(Names.ATTR_INDEX);
if (index == iterations) {
return d.getObservation(Names.OBS_COMPLETE);
}
ObjectInstance leftDoor = s.getObject(Names.OBJ_LEFT_DOOR);
ObjectInstance rightDoor = s.getObject(Names.OBJ_RIGHT_DOOR);
int leftDoorTiger = leftDoor.getDiscValForAttribute(Names.ATTR_TIGERNESS);
java.util.Random random = new java.util.Random();
if (a.action.getName().equals(Names.ACTION_LISTEN)) {
Observation left =
d.getObservation(Names.OBS_LEFT_DOOR + random.nextInt(observationsPerState));
Observation right =
d.getObservation(Names.OBS_RIGHT_DOOR + random.nextInt(observationsPerState));
if (leftDoorTiger == 1) {
return random.nextDouble() < 1 - noise ? left : right;
} else {
return random.nextDouble() < 1 - noise ? right : left;
}
} else {
return d.getObservation(Names.OBS_NULL);
}
}
@Override
public boolean isTrue(State s, String[] params) {
ObjectInstance agent = s.getObject(params[0]);
ObjectInstance location = s.getObject(params[1]);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
int lx = location.getDiscValForAttribute(ATTX);
int ly = location.getDiscValForAttribute(ATTY);
return ax == lx && ay == ly;
}
@Override
public void paintObject(
Graphics2D g2, State s, ObjectInstance ob, float cWidth, float cHeight) {
// agent will be filled in blue
g2.setColor(Color.BLUE);
// set up floats for the width and height of our domain
float fWidth = ExampleGridWorld.this.map.length;
float fHeight = ExampleGridWorld.this.map[0].length;
// determine the width of a single cell on our canvas
// such that the whole map can be painted
float width = cWidth / fWidth;
float height = cHeight / fHeight;
int ax = ob.getDiscValForAttribute(ATTX);
int ay = ob.getDiscValForAttribute(ATTY);
// left corrdinate of cell on our canvas
float rx = ax * width;
// top coordinate of cell on our canvas
// coordinate system adjustment because the java canvas
// origin is in the top left instead of the bottom right
float ry = cHeight - height - ay * height;
// paint the rectangle
g2.fill(new Rectangle2D.Float(rx, ry, width, height));
}
@Override
protected State performActionHelper(State s, String[] params) {
// get agent and current position
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int curX = agent.getDiscValForAttribute(ATTX);
int curY = agent.getDiscValForAttribute(ATTY);
// sample directon with random roll
double r = Math.random();
double sumProb = 0.;
int dir = 0;
for (int i = 0; i < this.directionProbs.length; i++) {
sumProb += this.directionProbs[i];
if (r < sumProb) {
dir = i;
break; // found direction
}
}
// get resulting position
int[] newPos = this.moveResult(curX, curY, dir);
// set the new position
agent.setValue(ATTX, newPos[0]);
agent.setValue(ATTY, newPos[1]);
// return the state we just modified
return s;
}
@Override
public double[] generateFeatureVectorFrom(State s) {
ObjectInstance agent = s.getFirstObjectOfClass(GridWorldDomain.CLASSAGENT);
int ax = agent.getDiscValForAttribute(GridWorldDomain.ATTX);
int ay = agent.getDiscValForAttribute(GridWorldDomain.ATTY);
double[] vec = new double[this.getDim()];
if (this.map[ax][ay] > 0) {
vec[map[ax][ay] - 1] = 1.;
}
return vec;
}
@Override
public boolean isTerminal(State s) {
// get location of agent in next state
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
// are they at goal location?
if (ax == this.goalX && ay == this.goalY) {
return true;
}
return false;
}
@Override
public double reward(State s, GroundedAction a, State sprime) {
// get location of agent in next state
ObjectInstance agent = sprime.getFirstObjectOfClass(CLASSAGENT);
int ax = agent.getDiscValForAttribute(ATTX);
int ay = agent.getDiscValForAttribute(ATTY);
// are they at goal location?
if (ax == this.goalX && ay == this.goalY) {
return 100.;
}
return -1;
}
@Override
public List<TransitionProbability> getTransitions(State s, String[] params) {
// get agent and current position
ObjectInstance agent = s.getFirstObjectOfClass(CLASSAGENT);
int curX = agent.getDiscValForAttribute(ATTX);
int curY = agent.getDiscValForAttribute(ATTY);
List<TransitionProbability> tps = new ArrayList<TransitionProbability>(4);
TransitionProbability noChangeTransition = null;
for (int i = 0; i < this.directionProbs.length; i++) {
int[] newPos = this.moveResult(curX, curY, i);
if (newPos[0] != curX || newPos[1] != curY) {
// new possible outcome
State ns = s.copy();
ObjectInstance nagent = ns.getFirstObjectOfClass(CLASSAGENT);
nagent.setValue(ATTX, newPos[0]);
nagent.setValue(ATTY, newPos[1]);
// create transition probability object and add to our list of outcomes
tps.add(new TransitionProbability(ns, this.directionProbs[i]));
} else {
// this direction didn't lead anywhere new
// if there are existing possible directions that wouldn't lead anywhere, aggregate with
// them
if (noChangeTransition != null) {
noChangeTransition.p += this.directionProbs[i];
} else {
// otherwise create this new state and transition
noChangeTransition = new TransitionProbability(s.copy(), this.directionProbs[i]);
tps.add(noChangeTransition);
}
}
}
return tps;
}
@Override
public double[] generateFeatureVectorFrom(State s) {
ObjectInstance agent = s.getFirstObjectOfClass(GridWorldDomain.CLASSAGENT);
int ax = agent.getDiscValForAttribute(GridWorldDomain.ATTX);
int ay = agent.getDiscValForAttribute(GridWorldDomain.ATTY);
double[] vec = new double[this.getDim()];
if (this.map[ax][ay] > 0) {
vec[map[ax][ay] - 1] = 1.;
}
// now do distances
// first seed to max val
for (int i = this.numCells; i < vec.length; i++) {
vec[i] = 61.;
}
// set goal (type 0) to its goal position assuming only 1 instance of it, so we don't scan
// large distances for it
if (this.gx != -1) {
vec[this.numCells] = Math.abs(this.gx - ax) + Math.abs(this.gy - ay);
}
// now do scan
for (int r = 0; r < 16; r++) {
int x;
// scan top
int y = ay + r;
if (y < 30) {
for (x = Math.max(ax - r, 0); x <= Math.min(ax + r, 29); x++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan bottom
y = ay - r;
if (y > -1) {
for (x = Math.max(ax - r, 0); x <= Math.min(ax + r, 29); x++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan left
x = ax - r;
if (x > -1) {
for (y = Math.max(ay - r, 0); y <= Math.min(ay + r, 29); y++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
// scan right
x = ax + r;
if (x < 30) {
for (y = Math.max(ay - r, 0); y <= Math.min(ay + r, 29); y++) {
this.updateNearest(vec, ax, ay, x, y);
}
}
if (this.foundNearestForAll(vec)) {
break;
}
}
return vec;
}
@Override
public void paintStatePolicy(Graphics2D g2, State s, Policy policy, float cWidth, float cHeight) {
ObjectInstance xOb = this.xObjectInstance(s);
ObjectInstance yOb = this.yObjectInstance(s);
Attribute xAtt = xOb.getObjectClass().getAttribute(xAttName);
Attribute yAtt = yOb.getObjectClass().getAttribute(yAttName);
float domainXScale = 0f;
float domainYScale = 0f;
float xval = 0f;
float yval = 0f;
float width = 0f;
float height = 0f;
if (xAtt.type == Attribute.AttributeType.DISC) {
if (this.numXCells != -1) {
domainXScale = this.numXCells;
} else {
domainXScale = xAtt.discValues.size();
}
width = cWidth / domainXScale;
xval = xOb.getDiscValForAttribute(xAttName) * width;
}
if (yAtt.type == Attribute.AttributeType.DISC) {
if (this.numYCells != -1) {
domainYScale = this.numYCells;
} else {
domainYScale = yAtt.discValues.size();
}
height = cHeight / domainYScale;
yval = cHeight - height - yOb.getDiscValForAttribute(yAttName) * height;
}
List<ActionProb> pdist = policy.getActionDistributionForState(s);
double maxp = 0.;
for (ActionProb ap : pdist) {
if (ap.pSelection > maxp) {
maxp = ap.pSelection;
}
}
if (true) {
if (this.renderStyle == PolicyGlyphRenderStyle.MAXACTIONSOFTTIE) {
maxp -= this.softTieDelta;
}
for (ActionProb ap : pdist) {
if (ap.pSelection >= maxp) {
ActionGlyphPainter agp = this.actionNameToGlyphPainter.get(ap.ga.actionName());
if (agp != null) {
agp.paintGlyph(g2, xval, yval, width, height);
}
}
}
} else {
for (ActionProb ap : pdist) {
float[] scaledRect =
this.rescaleRect(xval, yval, width, height, (float) (ap.pSelection / maxp));
ActionGlyphPainter agp = this.actionNameToGlyphPainter.get(ap.ga.actionName());
if (agp != null) {
agp.paintGlyph(g2, scaledRect[0], scaledRect[1], scaledRect[2], scaledRect[3]);
}
}
}
}
