Results: Light Dark 10x10 (Goal at Corner)

Setup

• Same as before; grid looks as follows:

********L*
********L*
********L*
********L*
*****A**L*
********L*
********L*
********L*
********L*
G*******L*

Results

• Seems to be simpler to solve than with goal in middle of grid
• Update: Similar results for all other corners

Goal at upper left

Updated Results: Light Dark 10x10

Setup

• 10x10 Light Dark domain (wrap-around) with continuous observations:

********L*

********L*

********L*

********L*

**G*****L*

********L*

********L*

*****A**L*

********L*

********L*

• Actions: up, down, left, right
• Observations: location (x,y) corrupted by Gaussian noise with STD based on distance to light
• Rewards: -1 per move
• Initial belief: uniform over all states except the goal
• # runs: 1000

Results: Automatic vs Fixed Discretization (1 cut point per dimension)

Results: No Discretization

Results: Hallway

Results

Results: Light Dark 10x10

Setup

• 10x10 Light Dark domain with continuous observations
• Starts from initial uniform belief
• # runs: 1000

Results

 

Progress 03-01-13

Hallway environment

• Changed from MOMDP to POMDP
• Orientation included in belief state
• Forward action is stochastic, turn actions are deterministic

Parser for POMDP files

• Started developing a parser for .POMDP files
• Using / adapting parser from libpomdp