Approximate POMDP Planning Online (APPL Online) Toolkit

Copyright © 2014-2017 by National University of Singapore.

APPL Online is a C++ implementation of the DESPOT algorithm for online POMDP planning [1]. It takes as input a POMDP model in the POMDPX file format. It also provides an API for interfacing directly with a blackbox simulator.

For bug reports and suggestions, please email motion@comp.nus.edu.sg.

[1] N. Ye, A. Somani, D. Hsu, and W. Lee. DESPOT: Online POMDP planning with regularization. J. Artificial Intelligence Research, 58:231–266, 2017.

Table of Contents

• Requirements
• Download
• Installation
• Quick Start
• Documentation
• Package Contents
• CMakeLists
• Acknowledgements
• Bugs and Suggestions
• Release Notes

Requirements

Tested Operating Systems:

Linux	OS X

Tested Compilers: gcc | g++ 4.2.1 or above

Tested Hardware: Intel Core i7 CPU, 2.0 GB RAM

Download

Clone the repository from Github (Recommended):

$ git clone https://github.com/AdaCompNUS/despot.git

OR manually download the Zip Files. For instructions, use this online Github README.

Installation

Compile using make:

$ cd despot
$ make

(Optional): If you prefer using CMake see the CMakeLists section.

Quick Start

DESPOT can be used to solve a POMDP specified in the POMDPX format or a POMDP specified in C++ according to the API. We illustrate this on the Tiger problem.

1.To run Tiger specified in POMDPX format, compile and run:

$ cd despot/examples/pomdpx_models
$ make
$ ./pomdpx -m ./data/Tiger.pomdpx --runs 2 

This command computes and simulates DESPOT's policy for N = 2 runs and reports the performance for the tiger problem specified in POMDPX format. See doc/Usage.txt for more options. For more details on the POMPDX format, see this page

2.To run Tiger specified in C++, compile and run:

$ cd despot/examples/cpp_models/tiger
$ make
$ ./tiger --runs 2

This command computes and simulates DESPOT's policy for N = 2 runs and reports the performance for the tiger problem specified in C++. See doc/Usage.txt for more options.

Documentation

Documentation can be found in the "doc" directory.

For a description of our example domains and more POMDP problems see the POMDP page.

Package Contents

Makefile                  Makefile for compiling the solver library
README.md                 Overview
include                   Header files
src/core                  Core data structures for the solvers
src/solvers               Solvers, including despot, pomcp and aems
src/pomdpx                Pomdpx and its parser
src/util                  Math and logging utilities
license                   Licenses and attributions
examples/cpp_models       POMDP models implemented in C++
examples/pomdpx_models    POMDP models implemented in pomdpx
doc/pomdpx_model_doc      Documentation for POMDPX file format
doc/cpp_model_doc         Documentation for implementing POMDP models in C++
doc/usage.txt             Explanation of command-line options
doc/eclipse_guide.md      Guide for using Eclipse IDE for development

CMakeLists

(Optional)

If you are interested in integrating DESPOT into an existing CMake project or using an IDE for editing, we provide a CMakeLists.txt.

To install DESPOT libraries and header files into your system directory:

$ cd despot
$ mkdir build; cd build
$ cmake ../
$ make
$ sudo make install

To integrate DESPOT into your project, add this to your CMakeLists.txt file:

find_package(Despot CONFIG REQUIRED)

add_executable("YOUR_PROJECT_NAME"
  <your_src_files>
)

target_link_libraries("YOUR_PROJECT_NAME"
  despot
)

Acknowledgements

Pocman implementation and memorypool.h in the package are based on David Silver's POMCP code

Bugs and Suggestions

Please use the issue tracker.

Release Notes

2015/09/28 Initial release.

2017/03/07 Public release. Revised documentation.