partially observable markov decision processes · 2018-09-27 · partially observable, stochastic...
TRANSCRIPT
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Partially Observable
Markov Decision ProcessesChapter 17
Mausam
(Based on slides by Dieter Fox,
Lee Wee Sun)
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Stochastic Planning: MDPs
What action
next?
Percepts Actions
Environment
Static
Fully
Observable
Perfect
Stochastic
Instantaneous
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Partially Observable MDPs
What action
next?
Percepts Actions
Environment
Static
Partially
Observable
Noisy
Stochastic
Instantaneous
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Stochastic, Fully Observable
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Stochastic, Partially Observable
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POMDPs
In POMDPs we apply the very same idea as in MDPs.
Since the state is not observable,
the agent has to make its decisions based on the belief state
which is a posterior distribution over states.
Let b be the belief of the agent about the current state
POMDPs compute a value function over belief space:
γa b, aa
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POMDPs
Each belief is a probability distribution,
• value fn is a function of an entire probability distribution.
Problematic, since probability distributions are continuous.
Also, we have to deal with huge complexity of belief spaces.
For finite worlds with finite state, action, and observation
spaces and finite horizons,
• we can represent the value functions by piecewise linear
functions.
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Applications
Robotic control
• helicopter maneuvering, autonomous vehicles
• Mars rover - path planning, oversubscription planning
• elevator planning
Game playing - backgammon, tetris, checkers
Neuroscience
Computational Finance, Sequential Auctions
Assisting elderly in simple tasks
Spoken dialog management
Communication Networks – switching, routing, flow control
War planning, evacuation planning
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Dialog Systems
Aim: Find out
what the person
wants
Actions: Ask
appropriate
questions
Observations:
Output of speech
recognizer
Williams & Young, 2007
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Assistive Technology
Aim: Assist person with dementia in handwashing
Actions: Prompt the person with suggestions when appropriate
Observations: Video of activity
POMDP Hoey, Von Bertoldi, Poupart, Mihailidis 2007
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Aircraft Collision Avoidance System
Image from
http://web.mit.edu/temizer/www/selim/
• Aim: Avoid collision
with nearby aircraft
• Actions: Maneuver
the UAV
• Observations:
Limited view sensors
Temitzer, Kochenderfer, Kaelbling, Lozano-Perez, Kuchar 2010
Bai, Hsu, Lee, Kochenderfer 2011
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Commonalities in the examples
• Need to learn, estimate or track the current state of
the system from history of actions and
observations
• Based on current state estimate, select an action
that leads to good outcomes, not just currently but
also in future (planning)
POMDP
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Powerful but Intractable
Partially Observable Markov Decision Process (POMDP)
is a very powerful modeling tool
But with great power
… comes great intractability!
No known way to solve
it quickly
No small policy
Image from http://ocw.mit.edu/courses/mathematics/18-405j-advanced-complexity-theory-fall-2001/
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assistance
State Space Size
Moderate state space size
Exact belief and policy
evaluation
Very large, continuous state spaces
Approximate belief and policy
evaluation
tracking navigation
simple
grasping
dialogcollision avoidance
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Partially Observable Markov Decision Process (POMDP) <S,A,T,R,Ω,O>
Observations Ω : Set of possible observations
• Navigation example:
• Set of locations output by GPS sensor
POMDP
Partially Observable
Markov Decision Process
Robot navigation
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POMDP <S,A,T,R,Ω,O>
Observation probability
function O : Probability of
observing o in state s’ when previous action is a
• O(o, a, s’) = Pr(o | a, s’)
• Navigation example:
• Darker shade, higher
probability
POMDP
Robot navigation
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POMDP <S,A,T,R,Ω,O>
Belief b : Probability of
state s
• b(s) = Pr(s)
• Navigation example:
• Exact position of robot
unknown
• Only have probability
distribution of positions,
obtained through sensor
readings
POMDP
Robot navigation
Belief
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POMDP
<S,A,T,R,Ω,O>
Policy π : Function
from belief to action
• a = π(b)
• Navigation example:
• Which way to move,
based on current belief
POMDP
Robot navigation
POMDP Policy
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POMDP <S,A,T,R,Ω,O>
R(a,b) : Expected reward
for taking action a when
belief is b
Optimal Policy π* :
Function π that maximizes
POMDP
Robot navigation
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POMDP <S,A,T,R,Ω,O>
Value function for π : Expected
return for starting from belief b
Optimal value function V* : Value function associated with
an optimal policy π*
POMDP
Robot navigation
Value Function
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An Illustrative Example
2x1x 3u
8.0
2z
1z
3u
2.0
8.0
2.0
7.0
3.0
3.0
7.0
measurements action u3 state x2
payoff
measurements
1u 2u1u 2u
100 50100 100
actions u1, u2
payoff
state x1
1z
2z
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The Parameters of the Example
The actions u1 and u2 are terminal actions.
The action u3 is a sensing action that potentially leads to a
state transition.
The horizon is finite and =1.
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Payoff in POMDPs
In MDPs, the payoff (or return) depended on the state of the system.
In POMDPs, however, the true state is not exactly known.
Therefore, we compute the expected payoff by integrating over all states:
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Payoffs in Our Example (1)
If we are totally certain that we are in state x1 and execute
action u1, we receive a reward of -100
If, on the other hand, we definitely know that we are in x2
and execute u1, the reward is +100.
In between it is the linear combination of the extreme
values weighted by the probabilities
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Payoffs in Our Example (2)
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The Resulting Policy for T=1
Given we have a finite POMDP with T=1, we would use V1(b) to determine the optimal policy.
In our example, the optimal policy for T=1 is
This is the upper thick graph in the diagram.
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Piecewise Linearity, Convexity
The resulting value function V1(b) is the maximum
of the three functions at each point
It is piecewise linear and convex.
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Pruning
If we carefully consider V1(b), we see that only the
first two components contribute.
The third component can therefore safely be
pruned away from V1(b).
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Increasing the Time Horizon
Assume the robot can make an observation before deciding on an action.
V1(b)29
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Increasing the Time Horizon
Assume the robot can make an observation before deciding on an action.
Suppose the robot perceives z1 for which p(z1 | x1)=0.7 and p(z1| x2)=0.3.
Given the observation z1 we update the belief using Bayes rule.
3.04.0)1(3.07.0)(
)(
)1(3.0'
)(
7.0'
1111
1
12
1
11
pppzp
zp
pp
zp
pp
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Increasing the Time Horizon
Assume the robot can make an observation before deciding on an action.
Suppose the robot perceives z1 for which p(z1 | x1)=0.7 and p(z1| x2)=0.3.
Given the observation z1 we update the belief using Bayes rule.
Thus V1(b | z1) is given by
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Expected Value after Measuring
Since we do not know in advance what the next
measurement will be, we have to compute the
expected belief
2
1
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2
1
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2
1
111
)|(
)(
)|()(
)|()()]|([)(
i
i
i i
ii
i
iiz
pxzpV
zp
pxzpVzp
zbVzpzbVEbV
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Expected Value after Measuring
Since we do not know in advance what the next
measurement will be, we have to compute the
expected belief
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Resulting Value Function
The four possible combinations yield the following function which then can be simplified and pruned.
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Value Function
b’(b|z1)
p(z1) V1(b|z1)
p(z2) V2(b|z2)
\bar{V}1(b)
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State Transitions (Prediction)
When the agent selects u3 its state potentially
changes.
When computing the value function, we have
to take these potential state changes into
account.
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Resulting Value Function after executing u3
Taking the state transitions into account, we
finally obtain.
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Value Function after executing u3
\bar{V}1(b)
\bar{V}1(b|u3)39
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Value Function for T=2
Taking into account that the agent can either
directly perform u1 or u2 or first u3 and then u1
or u2, we obtain (after pruning)
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Graphical Representation
of V2(b)
u1 optimal u2 optimal
unclear
outcome of measuring is important here
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Deep Horizons and Pruning
We have now completed a full backup in belief
space.
This process can be applied recursively.
The value functions for T=10 and T=20 are
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Deep Horizons and Pruning
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Why Pruning is Essential
Each update introduces additional linear components to V.
Each measurement squares the number of linear
components.
Thus, an unpruned value function for T=20 includes more
than 10547,864 linear functions.
At T=30 we have 10561,012,337 linear functions.
The pruned value functions at T=20, in comparison,
contains only 12 linear components.
The combinatorial explosion of linear components in the
value function are the major reason why POMDPs are
impractical for most applications.
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POMDP Summary
POMDPs compute the optimal action in partially observable, stochastic domains.
For finite horizon problems, the resulting value functions are piecewise linear and convex.
In each iteration the number of linear constraints grows exponentially.
POMDPs so far have only been applied successfully to very small state spaces with small numbers of possible observations and actions.
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