/// Predict the belief vector that will result if the specified action is performed
void TransitionModel::anticipateNextBeliefs(const GVec& beliefs, const GVec& actions, GVec& anticipatedBeliefs)
{
if(tutor)
tutor->transition(beliefs, actions, anticipatedBeliefs);
else
{
GAssert(beliefs.size() + actions.size() == model.layer(0).inputs());
buf.resize(beliefs.size() + actions.size());
buf.put(0, beliefs);
buf.put(beliefs.size(), actions);
model.forwardProp(buf);
anticipatedBeliefs.copy(beliefs);
anticipatedBeliefs.addScaled(2.0, model.outputLayer().activation());
anticipatedBeliefs.clip(-1.0, 1.0);
}
}
/// Refines the beliefs to correspond with actual observations
void ObservationModel::calibrateBeliefs(GVec& beliefs, const GVec& observations)
{
if(tutor)
tutor->observations_to_state(observations, beliefs);
else
{
GNeuralNetLayer& layIn = encoder.outputLayer();
for(size_t i = 0; i < calibrationIters; i++) {
decoder.forwardProp(beliefs);
decoder.backpropagate(observations);
decoder.layer(0).backPropError(&layIn);
beliefs.addScaled(decoder.learningRate(), layIn.error());
beliefs.clip(-1.0, 1.0);
}
}
}
