void MCTS::AddTransforms(VNODE *root, BELIEF_STATE &beliefs) {
int attempts = 0, added = 0;
// Local transformations of state that are consistent with history
while (added < Params.NumTransforms && attempts < Params.MaxAttempts) {
STATE *transform = CreateTransform();
if( transform ) {
beliefs.AddSample(transform);
added++;
}
attempts++;
}
if( Params.Verbose >= 1 ) {
cout << "Created " << added << " local transformations out of " << attempts << " attempts" << endl;
}
}
void FlatMCTS::ParticleFilter(BELIEF_STATE &beliefs) // unweighted particle filter
{
int attempts = 0, added = 0;
int max_attempts = (Params.NumStartStates - beliefs.GetNumSamples()) * 10;
int realObs = History.Back().Observation;
int stepObs;
double stepReward;
if (Params.Verbose >= 1) {
cout << "MCTS::ParticleFilter: last step belief size "
<< Root->Beliefs().GetNumSamples() << ", current belief size "
<< beliefs.GetNumSamples() << endl;
}
while (beliefs.GetNumSamples() < Params.NumStartStates &&
attempts < max_attempts) {
STATE *state = Root->Beliefs().CreateSample(Simulator);
Simulator.Step(*state, History.Back().Action, stepObs, stepReward);
if (Params.ThompsonSampling) {
Root->Child(History.Back().Action).Update(stepObs, stepReward);
}
if (stepObs == realObs) {
beliefs.AddSample(state);
added++;
} else {
Simulator.FreeState(state);
}
attempts++;
}
if (Params.Verbose >= 1) {
cout << "MCTS::ParticleFilter: Created " << added
<< " local transformations out of " << attempts << " attempts" << endl;
}
}
void FlatMCTS::AddTransforms(BELIEF_STATE &beliefs) {
int attempts = 0, added = 0;
if (Params.Verbose >= 1) {
cout << "MCTS::AddTransforms: last step belief size "
<< Root->Beliefs().GetNumSamples() << ", current belief size "
<< beliefs.GetNumSamples() << endl;
}
// Local transformations of state that are consistent with history
while (added < Params.NumTransforms && attempts < Params.MaxAttempts) {
STATE *transform = CreateTransform();
if (transform) {
beliefs.AddSample(transform);
added++;
}
attempts++;
}
if (Params.Verbose >= 1) {
cout << "MCTS::AddTransforms: Created " << added
<< " local transformations out of " << attempts << " attempts" << endl;
}
}