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dynamic_programming.cc
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dynamic_programming.cc
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#include "drake/systems/controllers/dynamic_programming.h"
#include <limits>
#include <utility>
#include <vector>
#include "drake/common/text_logging.h"
#include "drake/math/wrap_to.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/solve.h"
#include "drake/systems/analysis/simulator.h"
namespace drake {
namespace systems {
namespace controllers {
DynamicProgrammingOptions::PeriodicBoundaryCondition::PeriodicBoundaryCondition(
int state_index_in, double low_in, double high_in)
: state_index(state_index_in), low(low_in), high(high_in) {
DRAKE_DEMAND(low_in < high_in);
}
std::pair<std::unique_ptr<BarycentricMeshSystem<double>>, Eigen::RowVectorXd>
FittedValueIteration(
Simulator<double>* simulator,
const std::function<double(const Context<double>& context)>& cost_function,
const math::BarycentricMesh<double>::MeshGrid& state_grid,
const math::BarycentricMesh<double>::MeshGrid& input_grid, double timestep,
const DynamicProgrammingOptions& options) {
DRAKE_DEMAND(options.discount_factor > 0. && options.discount_factor <= 1.);
const int state_size = state_grid.size();
const int input_size = input_grid.size();
DRAKE_DEMAND(state_size > 0);
DRAKE_DEMAND(input_size > 0);
const auto& system = simulator->get_system();
auto& context = simulator->get_mutable_context();
math::BarycentricMesh<double> state_mesh(state_grid);
math::BarycentricMesh<double> input_mesh(input_grid);
const int num_states = state_mesh.get_num_mesh_points();
const int num_inputs = input_mesh.get_num_mesh_points();
const int num_state_indices = state_mesh.get_num_interpolants();
// TODO(russt): handle discrete state.
DRAKE_DEMAND(context.has_only_continuous_state() ||
options.assume_non_continuous_states_are_fixed);
DRAKE_DEMAND(context.num_continuous_states() == state_size);
const InputPort<double>* input_port =
system.get_input_port_selection(options.input_port_index);
DRAKE_DEMAND(input_port != nullptr);
DRAKE_DEMAND(input_port->size() == input_size);
DRAKE_DEMAND(timestep > 0.);
// TODO(russt): check that the system is time-invariant.
// Make sure all periodic boundary conditions are in range.
for (const auto& b : options.periodic_boundary_conditions) {
DRAKE_DEMAND(b.state_index >= 0 && b.state_index < state_size);
DRAKE_DEMAND(b.low < b.high);
DRAKE_DEMAND(b.low >= *(state_grid[b.state_index].begin()));
DRAKE_DEMAND(b.high <= *(state_grid[b.state_index].rbegin()));
}
// The transition probabilities are represented as a sparse matrix,
// where Tind[input](:,state) is a list of non-zero indexes into the
// state_mesh, and T[input](:,state) is the associated list of coefficients.
// cost[input](j) is the cost of taking action input from state mesh index j.
std::vector<Eigen::MatrixXi> Tind(num_inputs);
std::vector<Eigen::MatrixXd> T(num_inputs);
std::vector<Eigen::RowVectorXd> cost(num_inputs);
drake::log()->info("Computing transition and cost matrices.");
auto& sim_state = context.get_mutable_continuous_state_vector();
Eigen::VectorXd input_vec(input_mesh.get_input_size());
Eigen::VectorXd state_vec(state_mesh.get_input_size());
Eigen::VectorXi Tind_tmp(num_state_indices);
Eigen::VectorXd T_tmp(num_state_indices);
for (int input = 0; input < num_inputs; input++) {
Tind[input].resize(num_state_indices, num_states);
T[input].resize(num_state_indices, num_states);
cost[input].resize(num_states);
input_mesh.get_mesh_point(input, &input_vec);
input_port->FixValue(&context, input_vec);
for (int state = 0; state < num_states; state++) {
context.SetTime(0.0);
sim_state.SetFromVector(state_mesh.get_mesh_point(state));
simulator->Initialize();
cost[input](state) = timestep * cost_function(context);
simulator->AdvanceTo(timestep);
state_vec = sim_state.CopyToVector();
for (const auto& b : options.periodic_boundary_conditions) {
state_vec[b.state_index] =
math::wrap_to(state_vec[b.state_index], b.low, b.high);
}
state_mesh.EvalBarycentricWeights(state_vec, &Tind_tmp, &T_tmp);
Tind[input].col(state) = Tind_tmp;
T[input].col(state) = T_tmp;
}
}
drake::log()->info("Done computing transition and cost matrices.");
// Perform value iteration loop.
Eigen::RowVectorXd J = Eigen::RowVectorXd::Zero(num_states);
Eigen::RowVectorXd Jnext(num_states);
Eigen::MatrixXd Pi(input_mesh.get_input_size(), num_states);
drake::log()->info("Running value iteration.");
double max_diff = std::numeric_limits<double>::infinity();
int iteration = 0;
while (max_diff > options.convergence_tol) {
for (int state = 0; state < num_states; state++) {
Jnext(state) = std::numeric_limits<double>::infinity();
int best_input = 0;
for (int input = 0; input < num_inputs; input++) {
// Q(x,u) = g(x,u) + γ J(f(x,u)).
double Q = cost[input](state);
for (int index = 0; index < num_state_indices; index++) {
Q += options.discount_factor * T[input](index, state) *
J(Tind[input](index, state));
}
// Cost-to-go: J = minᵤ Q(x,u).
// Policy: π(x) = argminᵤ Q(x,u).
if (Q < Jnext(state)) {
Jnext(state) = Q;
best_input = input;
}
}
Pi.col(state) = input_mesh.get_mesh_point(best_input);
}
max_diff = (J - Jnext).lpNorm<Eigen::Infinity>();
J = Jnext;
iteration++;
if (options.visualization_callback) {
options.visualization_callback(iteration, state_mesh, J, Pi);
}
}
drake::log()->info("Value iteration converged to requested tolerance.");
// Create the policy.
auto policy = std::make_unique<BarycentricMeshSystem<double>>(state_mesh, Pi);
return std::make_pair(std::move(policy), J);
}
Eigen::VectorXd LinearProgrammingApproximateDynamicProgramming(
Simulator<double>* simulator,
const std::function<double(const Context<double>& context)>& cost_function,
const std::function<
symbolic::Expression(const Eigen::Ref<const Eigen::VectorXd>& state,
const VectorX<symbolic::Variable>& parameters)>&
linearly_parameterized_cost_to_go_function,
int num_parameters, const Eigen::Ref<const Eigen::MatrixXd>& state_samples,
const Eigen::Ref<const Eigen::MatrixXd>& input_samples, double timestep,
const DynamicProgrammingOptions& options) {
// discount_factor needs to be < 1 to avoid unbounded solutions (J = J* + ∞).
DRAKE_DEMAND(options.discount_factor > 0. && options.discount_factor <= 1.);
DRAKE_DEMAND(num_parameters > 0);
const int state_size = state_samples.rows();
const int input_size = input_samples.rows();
const int num_states = state_samples.cols();
const int num_inputs = input_samples.cols();
DRAKE_DEMAND(state_size > 0);
DRAKE_DEMAND(input_size > 0);
const auto& system = simulator->get_system();
auto& context = simulator->get_mutable_context();
// TODO(russt): handle discrete state.
DRAKE_DEMAND(context.has_only_continuous_state());
DRAKE_DEMAND(context.num_continuous_states() == state_size);
DRAKE_DEMAND(context.num_input_ports() == 1);
DRAKE_DEMAND(system.num_total_inputs() == input_size);
DRAKE_DEMAND(timestep > 0.);
// TODO(russt): check that the system is time-invariant.
// TODO(russt): implement wrapping (API doesn't provide enough info yet).
// Make sure all periodic boundary conditions are in range.
for (const auto& b : options.periodic_boundary_conditions) {
DRAKE_DEMAND(b.state_index >= 0 && b.state_index < state_size);
DRAKE_DEMAND(b.low < b.high);
}
drake::log()->info(
"Computing one-step dynamics and setting up the linear program.");
solvers::MathematicalProgram prog;
const solvers::VectorXDecisionVariable params =
prog.NewContinuousVariables(num_parameters, "a");
// Alias the function name for readability below.
const auto& J = linearly_parameterized_cost_to_go_function;
// Maximize ∑ J.
for (int state = 0; state < num_states; state++) {
prog.AddLinearCost(-J(state_samples.col(state), params));
}
// ∀x, ∀u, J(x) ≤ cost(x,u) + γJ(f(x,u)).
auto& sim_state = context.get_mutable_continuous_state_vector();
Eigen::VectorXd state_vec(state_size);
Eigen::VectorXd next_state_vec(state_size);
for (int input = 0; input < num_inputs; input++) {
system.get_input_port(0).FixValue(&context, input_samples.col(input));
for (int state = 0; state < num_states; state++) {
context.SetTime(0.0);
state_vec = state_samples.col(state);
sim_state.SetFromVector(state_vec);
simulator->Initialize();
const double cost = timestep * cost_function(context);
simulator->AdvanceTo(timestep);
next_state_vec = sim_state.CopyToVector();
for (const auto& b : options.periodic_boundary_conditions) {
next_state_vec[b.state_index] =
math::wrap_to(next_state_vec[b.state_index], b.low, b.high);
}
const symbolic::Formula f =
(J(state_vec, params) <=
cost + options.discount_factor * J(next_state_vec, params));
// Filter out constraints that are trivially true (because
// AddConstraint throws).
if (!symbolic::is_true(f)) {
prog.AddLinearConstraint(f);
}
}
}
drake::log()->info("Solving linear program.");
const solvers::MathematicalProgramResult result = Solve(prog);
if (!result.is_success()) {
drake::log()->error("No solution found. SolutionResult = " +
to_string(result.get_solution_result()));
}
drake::log()->info("Done solving linear program.");
return result.GetSolution(params);
}
} // namespace controllers
} // namespace systems
} // namespace drake