ARDESPOT

An implementation of the AR-DESPOT (Anytime Regularized DEterminized Sparse Partially Observable Tree) online POMDP Solver.

Tried to match the pseudocode from this paper: http://bigbird.comp.nus.edu.sg/m2ap/wordpress/wp-content/uploads/2017/08/jair14.pdf as closely as possible. Look there for definitions of all symbols.

Problems use the POMDPs.jl generative interface.

If you are trying to use this package and require more documentation, please file an issue!

Installation

On Julia v0.7 or later, ARDESPOT is in the JuliaPOMDP registry

Pkg.add("POMDPs")
using POMDPs
POMDPs.add_registry()
Pkg.add("ARDESPOT")

Usage

using POMDPs, POMDPModels, POMDPSimulators, ARDESPOT

pomdp = TigerPOMDP()

solver = DESPOTSolver(bounds=(-20.0, 0.0))
planner = solve(solver, pomdp)

for (s, a, o) in stepthrough(pomdp, planner, "sao", max_steps=10)
    println("State was $s,")
    println("action $a was taken,")
    println("and observation $o was received.\n")
end

For minimal examples of problem implementations, see this notebook and the POMDPs.jl generative docs.

Solver Options

Solver options can be found in the DESPOTSolver docstring:

julia> ?DESPOTSolver
...
  epsilon_0       :: Float64
  xi              :: Float64
  K               :: Int64
  D               :: Int64
  lambda          :: Float64
  T_max           :: Float64
  max_trials      :: Int64
  bounds          :: Any
  default_action  :: Any
  rng             :: AbstractRNG
  random_source   :: ARDESPOT.DESPOTRandomSource
  bounds_warnings :: Bool

Each can be set with a keyword argument in the DESPOTSolver constructor. The definitions of the parameters match as closely as possible to the corresponding definition in the pseudocode of this paper.

Bounds

Bounds can be specified as a tuple (lower_bound, upper_bound), where the lower and upper bounds are one of

a number
a function f - in this case f(pomdp, b::ScenarioBelief) is called to determine the bound.
an object bound - in this case ARDESPOT.lbound(bound, pomdp, b::ScenarioBelief) or ARDESPOT.ubound(...) will be called to determine the bound.

To access the state particles in a ScenairoBelief b, use particles(b) (or collect(particles(b)) to get a vector).

A common lower bound strategy is to use a rollout policy. This is provided by the DefaultPolicyLB type, for example

DESPOTSolver(bounds=(DefaultPolicyLB(RandomSolver()), 0.0))

will use a random rollout policy to calculate a lower bound.

Bounds need not be calculated independently; a single object or function that returns a tuple can be passed to the bounds argument. More examples can be found in src/bounds.jl. Please file an issue if more documentation is needed.

Visualization

D3Trees.jl can be used to visualize the search tree, for example

using POMDPs, POMDPModels, POMDPModelTools, D3Trees, ARDESPOT

pomdp = TigerPOMDP()

solver = DESPOTSolver(bounds=(-20.0, 0.0), tree_in_info=true)
planner = solve(solver, pomdp)
b0 = initialstate_distribution(pomdp)

a, info = action_info(planner, b0)
inchrome(D3Tree(info[:tree], init_expand=5))

will create an interactive tree that looks like this:

Relationship to DESPOT.jl

DESPOT.jl was designed to exactly emulate the C++ code released by the original DESPOT developers. This implementation was designed to be as close to the pseudocode from the journal paper as possible for the sake of readability. ARDESPOT has a few more features (for example DESPOT.jl does not implement regularization and pruning), and has more compatibility with a wider range of POMDPs.jl problems because it does not emulate the C++ code.

autonomobil/ARDESPOT.jl