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127
Protos/src/thinclab/belief/SparseFullBeliefExpansion.java
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| /* | ||
| * THINC Lab at UGA | Cyber Deception Group | ||
| * | ||
| * Author: Aditya Shinde | ||
| * | ||
| * email: shinde.aditya386@gmail.com | ||
| */ | ||
| package thinclab.belief; | ||
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| import java.util.ArrayList; | ||
| import java.util.HashSet; | ||
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| import org.apache.log4j.Logger; | ||
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| import thinclab.decisionprocesses.IPOMDP; | ||
| import thinclab.decisionprocesses.POMDP; | ||
| import thinclab.exceptions.ZeroProbabilityObsException; | ||
| import thinclab.legacy.DD; | ||
| import thinclab.legacy.OP; | ||
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| /* | ||
| * @author adityas | ||
| * | ||
| */ | ||
| public class SparseFullBeliefExpansion extends FullBeliefExpansion { | ||
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| /* | ||
| * Do sparse belief tree exploration | ||
| * | ||
| * Expand for all actions but sample observations | ||
| */ | ||
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| private int nIters = 30; | ||
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| private static final long serialVersionUID = 1571517162981801344L; | ||
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| private static final Logger LOGGER = Logger.getLogger(SparseFullBeliefExpansion.class); | ||
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| // ---------------------------------------------------------------------------------------- | ||
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| public SparseFullBeliefExpansion(IPOMDP ip, int iterations) { | ||
| super(ip); | ||
| this.nIters = iterations; | ||
| } | ||
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| // ---------------------------------------------------------------------------------------- | ||
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| @Override | ||
| public void expand() { | ||
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| for (int s = 0; s < this.nIters; s++) { | ||
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| LOGGER.debug("Starting new sampling iteration"); | ||
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| this.leaves.clear(); | ||
| this.leaves.add(this.f.getCurrentBelief()); | ||
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| /* H - 1 expansions to let the Solver reach H during solving */ | ||
| for (int i = 0; i < this.getHBound() - 1; i++) | ||
| this.expandSingleStep(); | ||
| } | ||
| } | ||
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| public void expandSingleStep() { | ||
| /* | ||
| * Runs one step of expansion from leaves and adds to exploredBeliefs | ||
| */ | ||
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| LOGGER.debug("Beginning expansion from " + this.leaves.size() + " beliefs."); | ||
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| HashSet<DD> newLeaves = new HashSet<DD>(); | ||
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| /* Expand from all current leaves */ | ||
| for (DD leaf : this.leaves) { | ||
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| /* For all actions */ | ||
| for (String action : this.f.getActions()) { | ||
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| /* | ||
| * Sample observations here | ||
| */ | ||
| DD obsDist = this.f.getObsDist(leaf, action); | ||
| int[][] obsConfig = null; | ||
| DD nextBelief = null; | ||
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| try { | ||
| if (this.f.getType().contentEquals("POMDP")) { | ||
| obsConfig = OP.sampleMultinomial(obsDist, ((POMDP) this.f).primeObsIndices); | ||
| nextBelief = | ||
| ((BeliefOps) this.f.bOPs).beliefUpdate( | ||
| leaf, action, obsConfig); | ||
| } | ||
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| else { | ||
| obsConfig = | ||
| OP.sampleMultinomial(obsDist, ((IPOMDP) this.f).obsIVarPrimeIndices); | ||
| nextBelief = | ||
| ((IBeliefOps) this.f.bOPs).beliefUpdate( | ||
| leaf, action, obsConfig); | ||
| } | ||
| } | ||
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| catch (ZeroProbabilityObsException e) { | ||
| } | ||
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| catch (Exception e) { | ||
| LOGGER.error("While doing belief update: " + e.getMessage()); | ||
| e.printStackTrace(); | ||
| System.exit(-1); | ||
| } | ||
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| /* continue if observation probability was 0 */ | ||
| if (nextBelief == null) continue; | ||
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| if (!this.exploredBeliefs.contains(nextBelief)) { | ||
| this.exploredBeliefs.add(nextBelief); | ||
| newLeaves.add(nextBelief); | ||
| } | ||
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| } /* for nActions */ | ||
| } /* while leafIterator */ | ||
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| LOGGER.debug("Found " + newLeaves.size() + " more beliefs in the expansion phase."); | ||
| LOGGER.debug(this.exploredBeliefs.size() + " points explored in the belief space."); | ||
| this.leaves = new ArrayList<DD>(newLeaves); | ||
| } | ||
| } |
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