/* simulates your policy for a number of iterations multiple times, and computes the average reward obtained.
* To generate a single trial:
* 1. Sample a starting state s from the initial belief state.
* 2. Repeat until goal is reached
* a) compute the action a for the belief state.
* b) sample the result of applying a to s, obtaining s'.
* c) sample an observation o based on a and s'
* d) compute the new belief state given your old belief state, a, and o.
* e) accumulate the reward
* cStepsPerTrial = Number of iterations
* cTrials = number of times of itrating cStepsPerTrial times. */
public double ComputeAverageDiscountedReward(Policy p, int cTrials, int cStepsPerTrial)
{
double accumulatedReward = 0;
for (int i = 1; i <= cTrials; i++)
{
int remainingSteps = cStepsPerTrial;
BeliefState bs = InitialBelief;
// step 1: Sample a starting state s from the initial belief state.
State s = bs.RandomState();
// step 2: Repeat until goal is reached
while (!IsGoalState(s) && remainingSteps > 0)
{
//step 2a: compute the action a for the belief state.
Action a = p.GetAction(bs);
//step 2b: sample the result of applying a to s, obtaining s'.
State sTag = s.Apply(a);
double reward = bs.Reward(a);
// step 2c: sample an observation o based on a and s(implemented with RandomObservation?)
Observation o = s.RandomObservation(a);
//step 2d: compute the new belief state given your old belief state, a, and o.
BeliefState newBeliefState = bs.Next(a, o);
bs = newBeliefState; //change bs for next iteration
//step 2e: accumulate the reward
accumulatedReward += reward;
s = sTag;
remainingSteps--;
}
}
return(accumulatedReward / cTrials);
}
public double ComputeAverageDiscountedReward(Policy p, int cTrials, int cStepsPerTrial)
{
//your code here
double to_ret = 0.0;
List <double> rewards = new List <double>();
for (int i = 0; i < cTrials; i++)
{
State target = sampleInitialState();
BeliefState currentBeliefState = InitialBelief;
double sumRewards = 0.0;
int counter = 0;
//while ((!IsGoalState(target)))
while ((!IsGoalState(target) && counter < cStepsPerTrial))
{
Action a = p.GetAction(currentBeliefState);
State newState = target.Apply(a: a);
List <KeyValuePair <Observation, double> > probabilitiesForObservation = new List <KeyValuePair <Observation, double> >();
double sum = 0.0;
foreach (Observation obs in Observations)
{
double prob = newState.ObservationProbability(a: a, o: obs);
sum += prob;
probabilitiesForObservation.Add(new KeyValuePair <Observation, double>(obs, sum));
}
Observation newObservation = samplingObservations(probabilitiesForObservation);
double reward = currentBeliefState.Reward(a);
currentBeliefState = currentBeliefState.Next(a: a, o: newObservation);
sumRewards += reward * Math.Pow(DiscountFactor, counter);
counter++;
target = newState;
}
rewards.Add(sumRewards);
}
foreach (double r in rewards)
{
to_ret += r;
}
return((to_ret) / cTrials);
}