Trees (#29)

* now uses centralized tree structure (tests do not pass and tree visualization does not work) * got rid of some deprecations * timing tests * changed some things to work with VDP tag * lowered max size for preallocated tree * export n_children * added isroot * this is a lot of work - stopping 4 lunch * woo - tree visualization works on the fast branch * updated docs
JuliaPOMDP · Oct 7, 2017 · 4b0b365 · 4b0b365
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diff --git a/REQUIRE b/REQUIRE
@@ -1,6 +1,8 @@
 julia 0.6
-JSON
 POMDPs 0.4
 Compat
 Blink
 POMDPToolbox
+CPUTime
+D3Trees
+Colors
diff --git a/docs/src/index.md b/docs/src/index.md
@@ -93,7 +93,7 @@ Depth = 2
 
 An example of visualization of the search tree in a jupyter notebook is [here](https://nbviewer.jupyter.org/github/JuliaPOMDP/MCTS.jl/blob/master/notebooks/Test_Visualization.ipynb) (or [here](https://github.com/JuliaPOMDP/MCTS.jl/blob/master/notebooks/Test_Visualization.ipynb) is the version on github that will not display quite right but will still show you how it's done).
 
-To display the tree in an Electron window using Blink.jl, run `blink(TreeVisualizer(policy, state))`.
+To display the tree in a Google Chrome window, run `using D3Trees; inchrome(D3Tree(policy, state))`.
 
 ## Incorporating Additional Prior Knowledge
 

diff --git a/notebooks/Domain_Knowledge_Example.ipynb b/notebooks/Domain_Knowledge_Example.ipynb
@@ -18,8 +18,19 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "metadata": {},
-   "outputs": [],
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: Method definition Type(Array{Any, 1}, Type{POMDPModels.GridWorld}) in module POMDPModels overwritten.\n",
+      "WARNING: Method definition (::Type{POMDPModels.GridWorld})() in module POMDPModels at /home/zach/.julia/v0.6/POMDPModels/src/GridWorlds.jl:71 overwritten at /home/zach/.julia/v0.6/POMDPModels/src/GridWorlds.jl:74.\n"
+     ]
+    }
+   ],
    "source": [
     "using MCTS\n",
     "importall POMDPs\n",
@@ -39,7 +50,9 @@
   {
    "cell_type": "code",
    "execution_count": 2,
-   "metadata": {},
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [
     {
      "name": "stdout",
@@ -89,7 +102,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 5,
    "metadata": {
     "collapsed": true
    },
@@ -106,8 +119,8 @@
     "end\n",
     "\n",
     "function up_priority(mdp, s, snode) # snode is the state node of type DPWStateNode\n",
-    "    if haskey(snode.A, GridWorldAction(:up)) # \"up\" is already there\n",
-    "        return GridWorldAction(rand([:up, :left, :down, :right])) # add a random action\n",
+    "    if haskey(snode.tree.a_lookup, (snode.index, :up)) # \"up\" is already there\n",
+    "        return GridWorldAction(rand([:left, :down, :right])) # add a random action\n",
     "    else\n",
     "        return GridWorldAction(:up)\n",
     "    end\n",
@@ -116,29 +129,30 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
+   "execution_count": 8,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Set value for POMDPModels.GridWorldState(1, 1, false) to 1.0\n",
       "Set value for POMDPModels.GridWorldState(1, 2, false) to 1.1111111111111112\n",
-      "Set value for POMDPModels.GridWorldState(2, 1, false) to 1.1111111111111112\n",
-      "Set value for POMDPModels.GridWorldState(3, 1, false) to 1.25\n",
       "Set value for POMDPModels.GridWorldState(1, 3, false) to 1.25\n",
+      "Set value for POMDPModels.GridWorldState(1, 3, false) to 1.25\n",
+      "Set value for POMDPModels.GridWorldState(2, 1, false) to 1.1111111111111112\n",
       "Set value for POMDPModels.GridWorldState(2, 2, false) to 1.25\n",
+      "Set value for POMDPModels.GridWorldState(2, 1, false) to 1.1111111111111112\n",
       "State-Action Nodes:\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:left Q:0.0 N:3\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:right Q:1.1039351851851853 N:3\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:up Q:0.7278935185185185 N:3\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:down Q:0.0 N:1\n",
-      "s:POMDPModels.GridWorldState(3, 1, false), a:up Q:0.0 N:1\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:right Q:0.0 N:1\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:up Q:1.1875 N:2\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:down Q:0.0 N:1\n",
-      "s:POMDPModels.GridWorldState(1, 2, false), a:up Q:9.094375 N:4\n"
+      "s:POMDPModels.GridWorldState(1, 1, false), a:up, Q:1.1875 N:2\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:down, Q:0.0 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:right, Q:1.0951388888888889 N:2\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:left, Q:0.0 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:up, Q:9.061388888888889 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:right, Q:11.73 N:3\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:down, Q:11.73 N:3\n",
+      "s:POMDPModels.GridWorldState(2, 1, false), a:up, Q:0.0 N:0\n"
      ]
     }
    ],
@@ -150,9 +164,10 @@
     "policy = solve(solver, mdp)\n",
     "action(policy, GridWorldState(1,1))\n",
     "println(\"State-Action Nodes:\")\n",
-    "for (s,sn) in policy.tree\n",
-    "    for (a,san) in sn.A\n",
-    "        println(\"s:$s, a:$a Q:$(san.Q) N:$(san.N)\")\n",
+    "tree = get(policy.tree)\n",
+    "for i in 1:length(tree.total_n)\n",
+    "    for j in tree.children[i]\n",
+    "        println(\"s:$(tree.s_labels[i]), a:$(tree.a_labels[j]), Q:$(tree.q[j]) N:$(tree.n[j])\")\n",
     "    end\n",
     "end"
    ]
@@ -168,7 +183,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 9,
    "metadata": {
     "collapsed": true
    },
@@ -186,7 +201,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 12,
    "metadata": {
     "collapsed": true
    },
@@ -204,7 +219,7 @@
     "end\n",
     "\n",
     "function MCTS.next_action(h::MyHeuristic, mdp::GridWorld, s, snode::DPWStateNode)\n",
-    "    if haskey(snode.A, h.priority_action)\n",
+    "    if haskey(snode.tree.a_lookup, (snode.index, h.priority_action))\n",
     "        return GridWorldAction(rand(h.rng, [:up, :left, :down, :right])) # add a random other action\n",
     "    else\n",
     "        return h.priority_action\n",
@@ -214,28 +229,28 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
-   "metadata": {},
+   "execution_count": 13,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Set value for POMDPModels.GridWorldState(1, 1, false) to 1.0\n",
       "Set value for POMDPModels.GridWorldState(1, 2, false) to 1.1111111111111112\n",
+      "Set value for POMDPModels.GridWorldState(1, 3, false) to 1.25\n",
       "Set value for POMDPModels.GridWorldState(2, 1, false) to 1.1111111111111112\n",
+      "Set value for POMDPModels.GridWorldState(1, 3, false) to 1.25\n",
       "Set value for POMDPModels.GridWorldState(2, 2, false) to 1.25\n",
-      "Set value for POMDPModels.GridWorldState(3, 1, false) to 1.25\n",
       "State-Action Nodes:\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:left Q:0.0 N:4\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:right Q:0.5459201388888888 N:4\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:up Q:1.063637152777778 N:2\n",
-      "s:POMDPModels.GridWorldState(1, 1, false), a:down Q:0.0 N:4\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:left Q:0.0 N:1\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:right Q:1.1875 N:1\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:up Q:1.1875 N:1\n",
-      "s:POMDPModels.GridWorldState(2, 1, false), a:down Q:1.128125 N:1\n",
-      "s:POMDPModels.GridWorldState(1, 2, false), a:up Q:8.7975 N:4\n"
+      "s:POMDPModels.GridWorldState(1, 1, false), a:up, Q:0.7916666666666667 N:3\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:right, Q:1.129609375 N:2\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:down, Q:0.0 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 1, false), a:left, Q:0.0 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:up, Q:9.07953125 N:4\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:left, Q:5.864999999999999 N:6\n",
+      "s:POMDPModels.GridWorldState(1, 2, false), a:right, Q:11.73 N:3\n"
      ]
     }
    ],
@@ -248,9 +263,10 @@
     "policy = solve(solver, mdp)\n",
     "action(policy, GridWorldState(1,1))\n",
     "println(\"State-Action Nodes:\")\n",
-    "for (s,sn) in policy.tree\n",
-    "    for (a,san) in sn.A\n",
-    "        println(\"s:$s, a:$a Q:$(san.Q) N:$(san.N)\")\n",
+    "tree = get(policy.tree)\n",
+    "for i in 1:length(tree.total_n)\n",
+    "    for j in tree.children[i]\n",
+    "        println(\"s:$(tree.s_labels[i]), a:$(tree.a_labels[j]), Q:$(tree.q[j]) N:$(tree.n[j])\")\n",
     "    end\n",
     "end"
    ]
@@ -266,7 +282,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 14,
    "metadata": {
     "collapsed": true
    },
@@ -279,7 +295,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 15,
    "metadata": {
     "collapsed": true
    },
@@ -300,30 +316,32 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
-   "metadata": {},
+   "execution_count": 16,
+   "metadata": {
+    "collapsed": false
+   },
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
       "State-Action Nodes\n",
-      "s:POMDPModels.GridWorldState(4,2,false), a:POMDPModels.GridWorldAction(:up) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,2,false), a:POMDPModels.GridWorldAction(:down) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,2,false), a:POMDPModels.GridWorldAction(:left) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,2,false), a:POMDPModels.GridWorldAction(:right) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,1,false), a:POMDPModels.GridWorldAction(:up) Q:5.688000922764596 N:1\n",
-      "s:POMDPModels.GridWorldState(4,1,false), a:POMDPModels.GridWorldAction(:down) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,1,false), a:POMDPModels.GridWorldAction(:left) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(4,1,false), a:POMDPModels.GridWorldAction(:right) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(5,1,false), a:POMDPModels.GridWorldAction(:up) Q:7.350918906249999 N:1\n",
-      "s:POMDPModels.GridWorldState(5,1,false), a:POMDPModels.GridWorldAction(:down) Q:0.0 N:20\n",
-      "s:POMDPModels.GridWorldState(5,1,false), a:POMDPModels.GridWorldAction(:left) Q:-4.172483313482347 N:1\n",
-      "s:POMDPModels.GridWorldState(5,1,false), a:POMDPModels.GridWorldAction(:right) Q:5.403600876626366 N:1\n",
-      "s:POMDPModels.GridWorldState(5,2,false), a:POMDPModels.GridWorldAction(:up) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(5,2,false), a:POMDPModels.GridWorldAction(:down) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(5,2,false), a:POMDPModels.GridWorldAction(:left) Q:0.0 N:0\n",
-      "s:POMDPModels.GridWorldState(5,2,false), a:POMDPModels.GridWorldAction(:right) Q:0.0 N:0\n"
+      "s:POMDPModels.GridWorldState(6, 1, false), a:up Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(6, 1, false), a:down Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(6, 1, false), a:left Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(6, 1, false), a:right Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 1, false), a:up Q:0.0 N:1\n",
+      "s:POMDPModels.GridWorldState(5, 1, false), a:down Q:0.0 N:20\n",
+      "s:POMDPModels.GridWorldState(5, 1, false), a:left Q:7.350918906249998 N:1\n",
+      "s:POMDPModels.GridWorldState(5, 1, false), a:right Q:7.350918906249999 N:1\n",
+      "s:POMDPModels.GridWorldState(5, 2, false), a:up Q:7.737809374999998 N:1\n",
+      "s:POMDPModels.GridWorldState(5, 2, false), a:down Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 2, false), a:left Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 2, false), a:right Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 3, false), a:up Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 3, false), a:down Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 3, false), a:left Q:0.0 N:0\n",
+      "s:POMDPModels.GridWorldState(5, 3, false), a:right Q:0.0 N:0\n"
      ]
     }
    ],