burlap.domain.singleagent.cartpole

Class InvertedPendulum

java.lang.Object

burlap.domain.singleagent.cartpole.InvertedPendulum

All Implemented Interfaces:

DomainGenerator

public class InvertedPendulum
extends java.lang.Object
implements DomainGenerator

A simplified version of the CartPoleDomain in which the movement of the pole depends only on gravity and the force applied, and not the velocity of the underlying cart. The track is also always assumed to be infinite. Therefore, the state space for this domain is fully described by two variables: the angle and angular velocity of the pole. However, there is also noise included in the actions of this domain as well a noop action. This version of the inverted pendulum is the version used in the original Least-Squares Policy Iteration paper [1].

1. Lagoudakis, Michail G., and Ronald Parr. "Least-squares policy iteration." The Journal of Machine Learning Research 4 (2003): 1107-1149.

Author:

James MacGlashan

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	InvertedPendulum.InvertedPendulumRewardFunction A default reward function for this domain.
static class	InvertedPendulum.InvertedPendulumTerminalFunction A default terminal function for this domain.
static class	InvertedPendulum.IPPhysicsParams

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	ACTION_NO_FORCE A constant for the name of the no force action (which due to stochasticity may include a small force)
InvertedPendulum.IPPhysicsParams	physParams
protected RewardFunction	rf
protected TerminalFunction	tf

Constructor Summary

Constructors

Constructor and Description
InvertedPendulum()

Method Summary

Modifier and Type	Method and Description
SADomain	generateDomain() Returns a newly instanced Domain object
RewardFunction	getRf()
TerminalFunction	getTf()
static void	main(java.lang.String[] args)
void	setRf(RewardFunction rf)
void	setTf(TerminalFunction tf)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ACTION_NO_FORCE

public static final java.lang.String ACTION_NO_FORCE

A constant for the name of the no force action (which due to stochasticity may include a small force)

See Also:

Constant Field Values

physParams

public InvertedPendulum.IPPhysicsParams physParams

rf

protected RewardFunction rf

tf

protected TerminalFunction tf

Constructor Detail

InvertedPendulum

public InvertedPendulum()

Method Detail

getRf

public RewardFunction getRf()

setRf

public void setRf(RewardFunction rf)

getTf

public TerminalFunction getTf()

setTf

public void setTf(TerminalFunction tf)

generateDomain

public SADomain generateDomain()

Description copied from interface: DomainGenerator

Returns a newly instanced Domain object

Specified by:

generateDomain in interface DomainGenerator

Returns:

the newly instantiated Domain object.

main

public static void main(java.lang.String[] args)

Parameters:

args - none expected