Approximate POMDP Planning Online (APPL Online) Toolkit

Copyright (c) 2014-2015 by National University of Singapore.

This software package is a C++ implementation of the DESPOT algorithm [1].

For bug reports and suggestions, please email [email protected].

[1] Online POMDP Planning with Regularization. Nan Ye, Adihraj Somani, David Hsu and Wee Sun Lee. In preparation. This extends our NIPS 2013 paper with an improved search algorithm, its analysis, and more empirical results.

================================================================================ REQUIREMENTS

Operating systems: Linux, Mac OS X

Tested Compilers: gcc/g++ 4.2.1 or above

• General

  GNU make is required for building.

================================================================================ 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 Tag problem.

1.To run Tag specified in POMDPX format

(a) Go to examples/pomdpx_models directory

(b) Type 'make' in the command line

(c) Run the following command

./pomdpx -m data/tag.pomdpx --runs <N> [OPTION]...

This command simulates DESPOT's policy for N times and reports the performance for tag problem specified in POMDPX format. See doc/Usage.txt for more options.

2.To run Tag specified in C++

(a) Go to examples/cpp_models/tag directory

(b) Type 'make' in the command line

(c) Run the following command

./tag --runs <N> [OPTION]...

This command simulates DESPOT's policy for N times and reports the performance for tag problem specified in C++. See doc/Usage.txt for more options.

======================================================================== DOCUMENTATION

Documentation can be found in the directory "doc". See PACKAGE CONTENTS for a detailed listing.

======================================================================== PACKAGE CONTENTS

Makefile                  Makefile for compiling the solver library
README.md                 Overview
include                   Header files
src                       Source files
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/nips2013.txt          Instruction to obtain results in [1]

================================================================================ ACKNOWLEDGEMENTS

Pocman implementation and memorypool.h in the package are based on David Silver's POMCP code, which is available at

http://www0.cs.ucl.ac.uk/staff/D.Silver/web/Applications.html

================================================================================ RELEASE NOTES

• 2015/09/28 Initial release.