burlap.behavior.singleagent.learnbydemo.mlirl.differentiableplanners.diffvinit

Class VanillaDiffVinit

java.lang.Object

burlap.behavior.singleagent.learnbydemo.mlirl.differentiableplanners.diffvinit.VanillaDiffVinit

All Implemented Interfaces:

DifferentiableVInit, ValueFunction, ValueFunctionInitialization

public class VanillaDiffVinit
extends java.lang.Object
implements DifferentiableVInit

A class for the default condition when a value function initialization returns an unparameterized value for each state, but must be differentiable with respect to the reward function parameters for use with a differentiable finite horizon planner.

Author:

James MacGlashan.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.behavior.singleagent.learnbydemo.mlirl.differentiableplanners.diffvinit.DifferentiableVInit

DifferentiableVInit.ParamedDiffVInit

Nested classes/interfaces inherited from interface burlap.behavior.singleagent.ValueFunctionInitialization

ValueFunctionInitialization.ConstantValueFunctionInitialization

Field Summary

Fields

Modifier and Type	Field and Description
protected DifferentiableRF	rf The differentiable reward function that defines the parameter space over which this value function initialization must differentiate.
protected ValueFunctionInitialization	vinit The source value function initialization.

Constructor Summary

Constructors

Constructor and Description
VanillaDiffVinit(ValueFunctionInitialization vinit, DifferentiableRF rf) Initializes.

Method Summary

Methods

Modifier and Type	Method and Description
double[]	getQGradient(State s, AbstractGroundedAction ga) Returns the Q-value function gradient.
double[]	getVGradient(State s) Returns the value function gradient.
double	qValue(State s, AbstractGroundedAction a) Returns the initialization value of the Q-value function for a given state and action pair.
double	value(State s) Returns the value function evaluation of the given state.

Methods inherited from class java.lang.Object

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

Field Detail

vinit

protected ValueFunctionInitialization vinit

The source value function initialization.

rf

protected DifferentiableRF rf

The differentiable reward function that defines the parameter space over which this value function initialization must differentiate.

Constructor Detail

VanillaDiffVinit

public VanillaDiffVinit(ValueFunctionInitialization vinit,
                DifferentiableRF rf)

Initializes.

Parameters:

vinit - The vanilla unparameterized value function initialization

rf - the differentiable reward function that defines the total parameter space

Method Detail

getVGradient

public double[] getVGradient(State s)

Description copied from interface: DifferentiableVInit

Returns the value function gradient.

Specified by:

getVGradient in interface DifferentiableVInit

Parameters:

s - the state on which the value function is to be evaluated

Returns:

the value function gradient.

getQGradient

public double[] getQGradient(State s,
                    AbstractGroundedAction ga)

Description copied from interface: DifferentiableVInit

Returns the Q-value function gradient.

Specified by:

getQGradient in interface DifferentiableVInit

Parameters:

s - the state on which the Q-value is to be evaluated.

ga - the action on which the Q-value is to be evaluated.

Returns:

the Q-value function gradient

value

public double value(State s)

Description copied from interface: ValueFunction

Returns the value function evaluation of the given state. If the value is not stored, then the default value specified by the ValueFunctionInitialization object of this class is returned.

Specified by:

value in interface ValueFunction

Parameters:

s - the state to evaluate.

Returns:

the value function evaluation of the given state.

qValue

public double qValue(State s,
            AbstractGroundedAction a)

Description copied from interface: ValueFunctionInitialization

Returns the initialization value of the Q-value function for a given state and action pair.

Specified by:

qValue in interface ValueFunctionInitialization

Parameters:

s - the state for which to get the initial value of the Q-value function.

a - the action for which to get the initial value of the Q-value function.

Returns:

the initialization value of the Q-value function for a given state and action pair.