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Changelog

Best viewed on the website.

Version 1.3.0.1 (09/30/2021)

  • Removed dependency on pygraphviz;
  • Added utils.debugging.Treedebugger, which makes it easier to inspect the search tree. See :py:mod:`~pomdp_py.utils.debugging`.
  • Added WeightedParticles; Refactored Particles. (:py:mod:`~pomdp_py.representations.distribution.particles`)
  • Optionally show progress bar while simulating in POUCT/POMCP.
  • Added a CLI interface to simplify running example domains, e.g. python -m pomdp_py -r tiger runs Tiger.
  • Can initialize Environment with BlackboxModel.
  • For the OOBelief class in oopomdp.pyx, now mpe and random can take an argument return_oostate (default True), which returns a sampled state as type OOState. This can be useful if you would like to inherit OOBelief and return a state of your own type when implementing its mpe and random functions.
  • Added __ne__ methods to framework classes.
  • Reorganized util by breaking it into different modules.
  • Code refactoring: Remove unnecessary *args, **kwargs in interface signature. Backwards compatible.
  • Bug fix regarding hashing and pickling.
  • Verified installation on Windows (TODO)

Version 1.2.4.6 (canceled)

  • Fix setup.py so that pip install -e . works.

Version 1.2.4.5 (07/05/2021)

  • Edit setup.py file so that Cython modules in pomdp-py can be :code:`cimport`ed.

(skipped versions due to attempting pypi release)

Version 1.2.4.1 (06/02/2021)

  • Fix documentation (external solver examples).
  • Update tiger_problem.py to match documentation

Version 1.2.4 (06/01/2021)

  • pomdp_py/algorithms/value_function.py:
    • zero-probability observation should be skipped.
    • refactored so that value() can take either a dict or a sequence of arguments.
  • Available on PyPI
  • .value field of VNode is instead changed to be a property, computed by finding the maximum value of the children Q-Nodes.

Version 1.2.3 (03/22/2021)

  • Bug fix in solvers.py and conversion.py (18fc58e0, cfc88e8d8)
  • Bug fix in the MOS domain's observation model (719c2edf5)
  • Linked docker image in documentation issue #13.
  • Updated documentations

Version 1.2.2.1 (01/25/2021)

  • Updated documentation for external library interfacing. Added citation.

Version 1.2.2 (01/17/2021)

  • Resolved issue #10. Set value in V-Node to be the max among its children Q-Nodes. Initial V-Node value set to negative infinity.
  • Avoid search tree building during rollout (thanks Jason)
  • Documentation clarification about .sample and .argmax functions in the RewardModel.
  • Small pomdps (with enumerable state, action, observation spaces) defined in pomdp_py can be converted to .pomdp and .pomdpx file formats.
  • Added interfacing with pomdp_solve and tested.
  • Added interfacing with sarsop and tested.
  • Added utils/templates.py that contains some convenient implementations of the POMDP interface.
  • Bug fixes (in histogram.pyx)

Version 1.2.1 (12/23/2020)

  • Fixed preferred rollout and action prior implementation; Previously the initial visits and values were not applied.
  • Fixed UCB1 value calculation when number of visits is 0; Previously a divide by zero error will be thrown. But it should have infinite value.
  • Fixed another potential math domain error due to log(0) in UCB1 value calculation when initial number of visit set to 0.
  • Fixed bug in particle belief update (minor type error)
  • Simplified the Tiger example code, updated the Tiger example in documentation.
  • Fixed bug in ValueIteration and verified in Tiger that it's able to differentiate differentiate between listen/stay actions when horizon = 3, but not so when horizon = 1 or 2. The same behavior is observed using the pomdp solver by POMDP.org.
  • Added an exact value function in pomdp_py.algorithms.value_function. It is a simpler exact value iteration algorithm.
  • Added Load/Unload domain Pull request #9
  • Pull request #11

Pull Request #3 (08/01/2020)

  • Added num_sims parameter to POMCP/POUCT that allows specifying the number of simulations per planning step (Previously only planning_time was available.
  • Added cythonized versions of tiger and rocksample domains which are much faster.

Pull Request #1 (06/02/2020)

  • Added continuous light-dark domain. A solver (BLQR) is attempted but not ready yet.
  • Bug fix in 2D MOS domain rollout; action step size changeable
  • Added Tag domain, tested with POUCT random rollout
  • Documentation

Version 1.0 - 1.2 (02/08/2020 - 02/16/2020)

  • Rewritten with cleaner interfaces and Cython integration
  • Refactored POMCP: Now it extends POUCT which does not assume particle belief representation.
  • Included Tiger, RockSample, and a 2D multi-object search (MOS) domain.
  • Using Sphinx Documentation

Version 0.0

  • Implementation of POMCP and OO-POMDP