pomdp_belief_tracking package

Subpackages

• pomdp_belief_tracking.pf package
  • Submodules
  • pomdp_belief_tracking.pf.particle_filter module
  • pomdp_belief_tracking.pf.rejection_sampling module
  • pomdp_belief_tracking.pf.importance_sampling module
  • pomdp_belief_tracking.pf.types module
  • Module contents

Submodules

pomdp_belief_tracking.pomdp_belief_tracking module

Main module.

pomdp_belief_tracking.types module

Defines some types for ease of reading

class pomdp_belief_tracking.types.Action(*args, **kwds)

Bases: typing_extensions.Protocol

The abstract type representing actions

class pomdp_belief_tracking.types.Belief(initial_distribution, update_function)

Bases: object

A belief is the combination of a update function and current distribution

sample()

Samples from its distribution

Return type

State

Returns

state sampled according to distribution

update(a, o)

Updates (in place) the state distribution given an action and observation

Parameters

• a (Action) – the executed action

• o (Observation) – the perceived observation

Return type

Dict[str, Any]

Returns

Side effect: updates in place, returns run-time info

class pomdp_belief_tracking.types.BeliefUpdate(*args, **kwds)

Bases: typing_extensions.Protocol

The signature for belief updates

pomdp_belief_tracking.types.Info

The datatype used for information flow from implementation to caller

alias of Dict[str, Any]

class pomdp_belief_tracking.types.Observation(*args, **kwds)

Bases: typing_extensions.Protocol

The abstract type representing observations

class pomdp_belief_tracking.types.Simulator(*args, **kwds)

Bases: typing_extensions.Protocol

The abstract type representing simulators

We expect simulators to map a state and action into a next state and observation.

__call__(s, a)

Simulate a transition

Parameters

• s (State) – the current state

• a (Action) – the executed action

Return type

Tuple[State, Observation]

Returns

next state and observation

class pomdp_belief_tracking.types.State(*args, **kwds)

Bases: typing_extensions.Protocol

The abstract type representing states

class pomdp_belief_tracking.types.StateDistribution(*args, **kwds)

Bases: typing_extensions.Protocol

The abstract type representing state distributions

We expect to be able to sample states

__call__()

Required implementation of distribution: the ability to sample states

Return type

State

Returns

state sampled according to distribution

class pomdp_belief_tracking.types.TransitionFunction(*args, **kwds)

Bases: typing_extensions.Protocol

The signature for transition functions

Module contents

Top-level package for pomdp-belief-tracking.