Merge pull request #34 from dityas/dev

Dev
dityas · Dec 24, 2019 · 565e9cb · 565e9cb
2 parents a710f26 + c1cc5fe
commit 565e9cb
Show file tree

Hide file tree

Showing 5 changed files with 33 additions and 11 deletions.
diff --git a/Protos/build/Protos.jar b/Protos/build/Protos.jar
diff --git a/Protos/src/thinclab/belief/SSGABeliefExpansion.java b/Protos/src/thinclab/belief/SSGABeliefExpansion.java
@@ -65,12 +65,20 @@ public SSGABeliefExpansion(POMDP p, int maxDepth, int iterations) {
 		this.allPossibleObs = this.p.getAllPossibleObservations();
 		this.nIterations = iterations;
 
-		/* add initial beliefs from the POMDP */
+		/* 
+		 * Run a full belief expansion for 3 time steps to facilitate proper exploration
+		 */
+
+		FullBeliefExpansion fb = new FullBeliefExpansion(this.p, 3);
+		fb.expand();
+
 		this.initialBeliefs = new ArrayList<DD>();
 		this.initialBeliefs.addAll(this.p.getInitialBeliefs());
 
 		this.exploredBeliefs = new HashSet<DD>();
-		this.exploredBeliefs.addAll(this.p.getInitialBeliefs());
+		this.exploredBeliefs.addAll(fb.getBeliefPoints());
+
+		fb = null;
 
 		logger.debug("SSGA expansion search initialized");
 	}

diff --git a/Protos/src/thinclab/representations/StructuredTree.java b/Protos/src/thinclab/representations/StructuredTree.java
@@ -287,15 +287,29 @@ public static String jsonBeliefStringToDotNode(String beliefString, String actio
 			for (JsonElement mj: mjArray) {
 
 				/* convert to JSON object */
-				JsonObject mjJSON = mj.getAsJsonObject(); 
+				JsonObject mjJSON = mj.getAsJsonObject();
+
+				JsonObject mjBeliefMap = 
+								mjJSON.get("model")
+									.getAsJsonObject()
+									.get("belief_j")
+									.getAsJsonObject();
+
+				/* Print each belief on a new line for Mj */
+				String mjString = "";
+
+				for (String state : mjBeliefMap.keySet())
+					mjString += 
+						state 
+						+ seperator 
+						+ gsonHandler.toJson(mjBeliefMap.get(state))
+							.replace("{", "(")
+							.replace("}", ")")
+						+ seperator;
 
 				dotString += 
 						seperator + "{" + 
-							"{" + gsonHandler.toJson(
-									mjJSON.get("model").getAsJsonObject().get("belief_j"))
-								.replace("{", "(")
-								.replace("}", ")") 
-
+							"{" + mjString
 								+ seperator + gsonHandler.toJson(
 										mjJSON.get("model").getAsJsonObject().get("A_j"))
 								+ seperator + gsonHandler.toJson(

diff --git a/Protos/src/thinclab/tests/TestBeliefExpansionStartegies.java b/Protos/src/thinclab/tests/TestBeliefExpansionStartegies.java
@@ -95,7 +95,7 @@ void testSSGABeliefExpansion() {
 
 		LOGGER.info("Testing initial beliefs");
 		List<DD> beliefs0 = ssgaBE.getBeliefPoints();
-		assertTrue(beliefs0.size() == this.pomdp.getInitialBeliefs().size());
+		assertTrue(beliefs0.size() >= this.pomdp.getInitialBeliefs().size());
 
 		LOGGER.info("Testing policy based expansion");
 		LOGGER.info("computing policy...");

diff --git a/Protos/src/thinclab/tests/TestIPOMDP.java b/Protos/src/thinclab/tests/TestIPOMDP.java
@@ -562,7 +562,7 @@ void testIPOMDPsteppingSingleFrame() throws Exception {
 		Random rand = new Random();
 
 		/* run for 100 iters */
-		for (int i = 0; i < 10; i++) {
+		for (int i = 0; i < 5; i++) {
 
 			List<String> actions = ipomdp.getActions();
 			String action = actions.get(rand.nextInt(actions.size()));
@@ -700,7 +700,7 @@ void testIPOMDPstepping2Frames() throws Exception {
 		Random rand = new Random();
 
 		/* run for 100 iters */
-		for (int i = 0; i < 10; i++) {
+		for (int i = 0; i < 5; i++) {
 
 			List<String> actions = ipomdp.getActions();
 			String action = actions.get(rand.nextInt(actions.size()));