Simplified interfaces for specifying POMDPs.jl models.
The package contains two interfaces - the Quick interface, and the Discrete Explicit interface.
Please see the documentation for more information on each.
The package can also be used from Python via pyjulia. See examples/tiger.py for an example.
The Quick Interface exposes nearly all of the features of POMDPs.jl as constructor keyword arguments. Documentation, Mountain Car Example:
mountaincar = QuickMDP(
gen = function (s, a, rng)
x, v = s
vp = clamp(v + a*0.001 + cos(3*x)*-0.0025, -0.07, 0.07)
xp = x + vp
if xp > 0.5
r = 100.0
else
r = -1.0
end
return (sp=(xp, vp), r=r)
end,
actions = [-1., 0., 1.],
initialstate = (-0.5, 0.0),
discount = 0.95,
isterminal = s -> s[1] > 0.5
)Tiger POMDP Example:
tiger = QuickPOMDP(
states = ["left", "right"],
actions = ["left", "right", "listen"],
observations = ["left", "right"],
initialstate = Uniform(["left", "right"]),
discount = 0.95,
transition = function (s, a)
if a == "listen"
return Deterministic(s) # tiger stays behind the same door
else # a door is opened
return Uniform(["left", "right"]) # reset
end
end,
observation = function (s, a, sp)
if a == "listen"
if sp == "left"
return SparseCat(["left", "right"], [0.85, 0.15]) # sparse categorical distribution
else
return SparseCat(["right", "left"], [0.85, 0.15])
end
else
return Uniform(["left", "right"])
end
end,
reward = function (s, a)
if a == "listen"
return -1.0
elseif s == a # the tiger was found
return -100.0
else # the tiger was escaped
return 10.0
end
end
)The Discrete Explicit Interface is an older, less powerful interface suitable for problems with small discrete state, action, and observation spaces. Though it is less powerful, the interface may be pedagogically useful because each element of the (S, A, O, R, T, Z, γ) tuple for a POMDP and (S, A, R, T, γ) tuple for an MDP is defined explicitly in a straightforward manner. Documentation, Tiger POMDP Example:
S = [:left, :right]
A = [:left, :right, :listen]
O = [:left, :right]
γ = 0.95
function T(s, a, sp)
if a == :listen
return s == sp
else # a door is opened
return 0.5 #reset
end
end
function Z(a, sp, o)
if a == :listen
if o == sp
return 0.85
else
return 0.15
end
else
return 0.5
end
end
function R(s, a)
if a == :listen
return -1.0
elseif s == a # the tiger was found
return -100.0
else # the tiger was escaped
return 10.0
end
end
m = DiscreteExplicitPOMDP(S,A,O,T,Z,R,γ)
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