added separate test sets for use with and without binning

JuliaPOMDP · Jun 26, 2024 · 49f6b0c · 49f6b0c
1 parent 38ae17f
commit 49f6b0c
Showing 1 changed file with 85 additions and 6 deletions.
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -29,9 +29,9 @@ include("updater.jl")
 
 include("tree.jl")
 
-@testset "Tiger POMDP" begin
+@testset "Tiger POMDP (no binning)" begin
     pomdp = TigerPOMDP()
-    solver = SARSOPSolver(epsilon=0.5, precision=1e-3, verbose=false)
+    solver = SARSOPSolver(epsilon=0.5, precision=1e-3, verbose=false, use_binning=false)
     tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0
@@ -50,9 +50,9 @@ include("tree.jl")
     @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
 end
 
-@testset "Baby POMDP" begin
+@testset "Baby POMDP (no binning)" begin
     pomdp = BabyPOMDP()
-    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-3, verbose=false)
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-3, verbose=false, use_binning=false)
     tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0
@@ -71,9 +71,88 @@ end
     @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
 end
 
-@testset "RockSample POMDP" begin
+@testset "RockSample POMDP (no binning)" begin
     pomdp = RockSamplePOMDP()
-    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-2, verbose=false)
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-2, verbose=false, use_binning=false)
+    tree = SARSOPTree(pomdp)
+    Γ = solve(solver, pomdp)
+    iterations = 0
+    while JSOP.root_diff(tree) > solver.precision
+        iterations += 1
+        JSOP.sample!(solver, tree)
+        JSOP.backup!(tree)
+        JSOP.prune!(solver, tree)
+    end
+    # @test isapprox(tree.V_lower[1], -16.3; atol=1e-2)
+    @test JSOP.root_diff(tree) < solver.precision
+
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-2, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
+    @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.1
+    @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.1
+end
+
+@testset "Binning" begin
+    pomdp = BabyPOMDP()
+
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-8, max_time=3.0, verbose=false, use_binning=false)
+    Γ1 = solve(solver, pomdp)
+
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-8, max_time=3.0, verbose=false, use_binning=true)
+    Γ2 = solve(solver, pomdp)
+
+    @test abs(value(Γ1, initialstate(pomdp)) - value(Γ2, initialstate(pomdp))) < 1e-7
+
+    Γ, info = solve_info(solver, pomdp)
+    @test !isempty(info.tree.bm.bin_levels[1][:bin_count])
+    @test length(info.tree.bm.bin_levels) == 2
+end
+
+@testset "Tiger POMDP (with binning)" begin
+    pomdp = TigerPOMDP()
+    solver = SARSOPSolver(epsilon=0.5, precision=1e-3, verbose=false, use_binning=true)
+    tree = SARSOPTree(pomdp)
+    Γ = solve(solver, pomdp)
+    iterations = 0
+    while JSOP.root_diff(tree) > solver.precision
+        iterations += 1
+        JSOP.sample!(solver, tree)
+        JSOP.backup!(tree)
+        JSOP.prune!(solver, tree)
+    end
+    @test isapprox(tree.V_lower[1], 19.37; atol=1e-1)
+    @test JSOP.root_diff(tree) < solver.precision
+
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-3, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
+    @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.01
+    @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
+end
+
+@testset "Baby POMDP (with binning)" begin
+    pomdp = BabyPOMDP()
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-3, verbose=false, use_binning=true)
+    tree = SARSOPTree(pomdp)
+    Γ = solve(solver, pomdp)
+    iterations = 0
+    while JSOP.root_diff(tree) > solver.precision
+        iterations += 1
+        JSOP.sample!(solver, tree)
+        JSOP.backup!(tree)
+        JSOP.prune!(solver, tree)
+    end
+    @test isapprox(tree.V_lower[1], -16.3; atol=1e-2)
+    @test JSOP.root_diff(tree) < solver.precision
+
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-3, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
+    @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.01
+    @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
+end
+
+@testset "RockSample POMDP (with binning)" begin
+    pomdp = RockSamplePOMDP()
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-2, verbose=false, use_binning=true)
     tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0