burlap.behavior.singleagent.learnfromdemo.mlirl.differentiableplanners.diffvinit

Class DiffVFRF

java.lang.Object

burlap.behavior.singleagent.learnfromdemo.mlirl.differentiableplanners.diffvinit.DiffVFRF

All Implemented Interfaces:

DifferentiableRF, ParametricFunction, RewardFunction

public class DiffVFRF
extends java.lang.Object
implements DifferentiableRF

A differentiable reward function wrapper for use with MLIRL when the reward function is known, but the value function initialization for leaf nodes is to be learned. This class takes as input the true reward function and a DifferentiableVInit object to form the DifferentiableRF object that MLIRL will use.

Author:

James MacGlashan.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.behavior.singleagent.vfa.ParametricFunction

ParametricFunction.ParametricStateActionFunction, ParametricFunction.ParametricStateFunction

Field Summary

Fields

Modifier and Type	Field and Description
protected DifferentiableVInit	diffVInit
protected int	dim
protected RewardFunction	objectiveRF

Constructor Summary

Constructors

Constructor and Description
DiffVFRF(RewardFunction objectiveRF, DifferentiableVInit diffVinit)

Method Summary

Methods

Modifier and Type	Method and Description
ParametricFunction	copy() Returns a copy of this ParametricFunction.
double	getParameter(int i) Returns the value of the ith parameter value
FunctionGradient	gradient(State s, GroundedAction a, State sprime)
int	numParameters() Returns the number of parameters defining this function.
void	resetParameters() Resets the parameters of this function to default values.
double	reward(State s, GroundedAction a, State sprime) Returns the reward received when action a is executed in state s and the agent transitions to state sprime.
void	setParameter(int i, double p) Sets the value of the ith parameter to given value

Methods inherited from class java.lang.Object

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

Field Detail

objectiveRF

protected RewardFunction objectiveRF

diffVInit

protected DifferentiableVInit diffVInit

dim

protected int dim

Constructor Detail

DiffVFRF

public DiffVFRF(RewardFunction objectiveRF,
        DifferentiableVInit diffVinit)

Method Detail

gradient

public FunctionGradient gradient(State s,
                        GroundedAction a,
                        State sprime)

Specified by:

gradient in interface DifferentiableRF

numParameters

public int numParameters()

Description copied from interface: ParametricFunction

Returns the number of parameters defining this function. Note that some implementations my have a dynamic number of parameters that grows or shrinks over time. Consult the documentation for the specific implementation for more information.

Specified by:

numParameters in interface ParametricFunction

Returns:

the number of parameters defining this function.

getParameter

public double getParameter(int i)

Description copied from interface: ParametricFunction

Returns the value of the ith parameter value

Specified by:

getParameter in interface ParametricFunction

Parameters:

i - the parameter index

Returns:

the double value of the ith parameter

setParameter

public void setParameter(int i,
                double p)

Description copied from interface: ParametricFunction

Sets the value of the ith parameter to given value

Specified by:

setParameter in interface ParametricFunction

Parameters:

i - the index of the parameter to set

p - the parameter value to which it should be set

resetParameters

public void resetParameters()

Description copied from interface: ParametricFunction

Resets the parameters of this function to default values.

Specified by:

resetParameters in interface ParametricFunction

copy

public ParametricFunction copy()

Description copied from interface: ParametricFunction

Returns a copy of this ParametricFunction.

Specified by:

copy in interface ParametricFunction

Returns:

a copy of this ParametricFunction.

reward

public double reward(State s,
            GroundedAction a,
            State sprime)

Description copied from interface: RewardFunction

Returns the reward received when action a is executed in state s and the agent transitions to state sprime.

Specified by:

reward in interface RewardFunction

Parameters:

s - the state in which the action was executed

a - the action executed

sprime - the state to which the agent transitioned

Returns:

the reward received when action a is executed in state s and the agent transitions to state sprime.