Merge pull request #36 from dityas/dev

Dev

Protos/src/thinclab/executables/POMDPSolver.java

@@ -67,7 +67,7 @@ public void solvePOMDP() {
 		this.solver = 
 				new OfflineSymbolicPerseus(
 						this.pomdp, 
-						new SSGABeliefExpansion(this.pomdp, this.searchDepth, 10), 
+						new SSGABeliefExpansion(this.pomdp, this.searchDepth, 5), 
 						this.perseusRounds, 
 						this.numDpBackups);
 

Protos/src/thinclab/legacy/DDnode.java

@@ -50,7 +50,10 @@ private void precomputeHash() {
 			if (this.children[i] != null)
 				builder.append(this.children[i].hashCode());
 
-			else logger.error("Null child at " + i + " something might be seriously wrong.");
+			else {
+				logger.error("Null child at " + i + " something might be seriously wrong.");
+				logger.error("Error causing DD is " + this.toDDTree());
+			}
 		}
 
 		this.hash = builder.toHashCode();

Protos/src/thinclab/solvers/OfflineSolver.java

@@ -37,6 +37,11 @@ public abstract class OfflineSolver extends BaseSolver {
 
 	CircularFifoBuffer<Float> bErrorVals = new CircularFifoBuffer<Float>(5);
 
+	/* for checking used beliefs and num alpha vectors */
+	int numSimilar = 0;
+	int numAlphas = -1;
+	int numBeliefs = -1;
+
 	private static final Logger logger = Logger.getLogger(OfflineSolver.class);
 
 	// ------------------------------------------------------------------------------------------
@@ -104,5 +109,62 @@ public float getErrorVariance(float bellManError) {
 		return variance;
 
 	}
+
+	public boolean isNumAlphaConstant(int numAlphas) {
+		/*
+		 * Checks if the number of alpha vectors hasn't changed in the last 5 iterations
+		 */
+
+		if (this.numAlphas != numAlphas) {
+			 this.numAlphas = numAlphas;
+			 return false;
+		}
+
+		else return true;
+	}
+
+	public boolean isNumUsedBeliefsConstant(int numUsedBeliefs, int numBeliefs) {
+		/*
+		 * Checks if number of used beliefs is same as number of total beliefs
+		 * for the last 5 iterations. This could mean convergence 
+		 */
+
+		if (numUsedBeliefs == numBeliefs) {
+
+			if (this.numBeliefs != numUsedBeliefs) {
+				this.numBeliefs = numUsedBeliefs;
+				return false;
+			}
+
+			else {
+				return true;
+			}
+		}
+
+		else return false;
+	}
+
+	public boolean declareApproxConvergenceForAlphaVectors(
+			int numAlphas, int numUsedBeliefs, int numBeliefs) {
+		/*
+		 * Checks if the number of alpha vectors and the number of used beliefs is the
+		 * same for the last few iterations.
+		 */
+
+		if (this.isNumAlphaConstant(numAlphas) && 
+				this.isNumUsedBeliefsConstant(numUsedBeliefs, numBeliefs)) {
+
+			this.numSimilar += 1;
+
+			if (this.numSimilar >= 5) {
+				this.numSimilar = 0;
+				return true;
+			}
+
+			else return false;
+		}
+
+		return false;
+	}
 
 }

Protos/src/thinclab/solvers/OnlineInteractiveSymbolicPerseus.java

@@ -367,6 +367,13 @@ public void boundedPerseusStartFromCurrent(
 				break;
 			}
 
+			if (this.declareApproxConvergenceForAlphaVectors(
+					this.alphaVectors.length, numIter, beliefRegion.length)) {
+				logger.warn("DECLARING APPROXIMATE CONVERGENCE AT ERROR: " + bellmanErr
+						+ " BECAUSE ALL BELIEFS ARE BEING USED AND NUM ALPHAS IS CONSTANT");
+				break;
+			}
+
 		}
 
 	}

Protos/src/thinclab/solvers/OnlineSolver.java

@@ -34,6 +34,11 @@ public abstract class OnlineSolver extends BaseSolver {
 	PolicyCache pCache = new PolicyCache(5);
 
 	CircularFifoBuffer<Float> bErrorVals = new CircularFifoBuffer<Float>(5);
+
+	/* for checking used beliefs and num alpha vectors */
+	int numSimilar = 0;
+	int numAlphas = -1;
+	int numBeliefs = -1;
 
 	// ------------------------------------------------------------------------------------------
 
@@ -120,5 +125,62 @@ public float getErrorVariance(float bellManError) {
 		return variance;
 
 	}
+
+	public boolean isNumAlphaConstant(int numAlphas) {
+		/*
+		 * Checks if the number of alpha vectors hasn't changed in the last 5 iterations
+		 */
+
+		if (this.numAlphas != numAlphas) {
+			 this.numAlphas = numAlphas;
+			 return false;
+		}
+
+		else return true;
+	}
+
+	public boolean isNumUsedBeliefsConstant(int numUsedBeliefs, int numBeliefs) {
+		/*
+		 * Checks if number of used beliefs is same as number of total beliefs
+		 * for the last 5 iterations. This could mean convergence 
+		 */
+
+		if (numUsedBeliefs == numBeliefs) {
+
+			if (this.numBeliefs != numUsedBeliefs) {
+				this.numBeliefs = numUsedBeliefs;
+				return false;
+			}
+
+			else {
+				return true;
+			}
+		}
+
+		else return false;
+	}
+
+	public boolean declareApproxConvergenceForAlphaVectors(
+			int numAlphas, int numUsedBeliefs, int numBeliefs) {
+		/*
+		 * Checks if the number of alpha vectors and the number of used beliefs is the
+		 * same for the last few iterations.
+		 */
+
+		if (this.isNumAlphaConstant(numAlphas) && 
+				this.isNumUsedBeliefsConstant(numUsedBeliefs, numBeliefs)) {
+
+			this.numSimilar += 1;
+
+			if (this.numSimilar >= 5) {
+				this.numSimilar = 0;
+				return true;
+			}
+
+			else return false;
+		}
+
+		return false;
+	}
 
 }

Protos/src/thinclab/tests/TestOnlineSymbolicPerseus.java

@@ -102,7 +102,7 @@ void testIPOMDPNextBelStates() throws Exception {
 		 */
 		IPOMDP tigerL1IPOMDP = new IPOMDP(parser, 2, 20);
 
-		for (int t = 0; t < 10; t++) {
+		for (int t = 0; t < 5; t++) {
 
 			HashMap<String, NextBelState> nextStates = 
 					NextBelState.oneStepNZPrimeBelStates(