/* 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);
}
private List <BeliefState> SimulateTrial(Policy p, int cMaxSteps)
{
BeliefState bsCurrent = m_dDomain.InitialBelief, bsNext = null;
State sCurrent = bsCurrent.RandomState(), sNext = null;
Action a = null;
Observation o = null;
List <BeliefState> lBeliefs = new List <BeliefState>();
while (!m_dDomain.IsGoalState(sCurrent) && lBeliefs.Count < cMaxSteps)
{
a = p.GetAction(bsCurrent);
sNext = sCurrent.Apply(a);
o = sNext.RandomObservation(a);
bsNext = bsCurrent.Next(a, o);
bsCurrent = bsNext;
lBeliefs.Add(bsCurrent);
sCurrent = sNext;
}
return(lBeliefs);
}
private void SimulateTrial(Policy p, MazeViewer viewer)
{
BeliefState bsCurrent = InitialBelief, bsNext = null;
State sCurrent = bsCurrent.RandomState(), sNext = null;
Action a = null;
Observation o = null;
viewer.CurrentState = (MazeState)sCurrent;
viewer.CurrentBelief = bsCurrent;
while (!IsGoalState(sCurrent))
{
a = p.GetAction(bsCurrent);
sNext = sCurrent.Apply(a);
o = sNext.RandomObservation(a);
bsNext = bsCurrent.Next(a, o);
bsCurrent = bsNext;
sCurrent = sNext;
viewer.CurrentState = (MazeState)sCurrent;
viewer.CurrentBelief = bsCurrent;
viewer.CurrentObservation = (MazeObservation)o;
Thread.Sleep(500);
}
}