robotic 0.2.6__cp311-cp311-manylinux2014_x86_64.whl → 0.2.7__cp311-cp311-manylinux2014_x86_64.whl

robotic/include/rai/MCTS/solver_MBTS.h

@@ -1,109 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/graph.h"
-#include "../Algo/priorityQueue.h"
-
-//===========================================================================
-
-struct MBTS;
-struct MBTS_Node;
-typedef rai::Array<MBTS_Node*> MBTS_NodeL;
-
-//===========================================================================
-
-struct MBTS_Node {
-  MBTS& MBTS;
-  TreeSearchDomain& world;
-  TreeSearchDomain::Handle action;
-  TreeSearchDomain::Handle state;
-  TreeSearchDomain::TransitionReturn ret;
-
-  MBTS_Node* parent;
-  rai::Array<MBTS_Node*> children;
-
-  uint d;      ///< decision depth of this node
-  double time; ///< real time
-
-  arr g; ///< cost-so-far for each level
-  arr h; ///< cost-to-go heuristic for each level
-
-  boolA isEvaluated; ///< for each level
-  boolA isInfeasible; ///< for each level
-  bool isTerminal=false; ///< for logic level only
-
-  /// root node init
-  MBTS_Node(MBTS& MBTS, TreeSearchDomain& world);
-
-  /// child node creation
-  MBTS_Node(MBTS_Node* parent, const TreeSearchDomain::Handle& a);
-
-  ~MBTS_Node() { NIY; }
-
-  //- computations on the node
-  void expand();           ///< expand this node (symbolically: compute possible decisions and add their effect nodes)
-
-  virtual void evaluate(int level=-1) { NIY; }
-
-  //-- helpers
-  void labelInfeasible(); ///< sets the infeasible label AND removes all children!
-  MBTS_NodeL getTreePath(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  MBTS_Node* getRoot(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  void getAllChildren(MBTS_NodeL& tree);
-
-  bool recomputeAllFolStates();
-  void recomputeAllMCStats(bool excludeLeafs=true);
-
-  void checkConsistency();
-
-  void write(ostream& os=cout, bool recursive=false) const;
-  void getGraph(Graph& G, Node* n=nullptr);
-  Graph getGraph() { Graph G; getGraph(G, nullptr); G.checkConsistency(); return G; }
-
-  void getAll(MBTS_NodeL& L);
-  MBTS_NodeL getAll() { MBTS_NodeL L; getAll(L); return L; }
-};
-stdOutPipe(MBTS_Node)
-
-//===========================================================================
-
-struct MBTS_Heuristic {
-  struct Return {
-    double g;
-    double h;
-    bool terminal;
-    bool feasible;
-  };
-
-  virtual ~MBTS_Heuristic() {}
-  virtual Return evaluate(MBTS_Node* n, int level);
-};
-
-//===========================================================================
-
-struct MBTS {
-  MBTS_Node* root;
-  rai::Array<PriorityQueue<MBTS_Node*>> queue; //for each level
-  MBTS_Heuristic& heuristic;
-
-  rai::Array<MBTS_Node*> solutions;
-  uint size, depth;
-
-  MBTS(TreeSearchDomain& world, MBTS_Heuristic& heuristic, uint L);
-
-  bool step(int level);
-  void run();
-
-  void reportQueue();
-};
-
-//===========================================================================
-

robotic/include/rai/MCTS/solver_PlainMC.h

@@ -1,58 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/array.h"
-#include "../Core/graph.h"
-
-//===========================================================================
-
-// stored per node, or at root only, or root and its children
-struct MCStatistics {
-  uint n;
-  arr X;
-  MCStatistics():n(0) {}
-  void clear() { X.clear(); n=0; }
-  void add(double R, uint topSize=10);
-};
-
-//===========================================================================
-
-struct PlainMC {
-
-  rai::TreeSearchDomain& world;
-  rai::Array<rai::TreeSearchDomain::Handle> A;  ///< what decisions do we have in the start state
-  rai::Array<MCStatistics> D;                ///< data of returns for all first actions
-  MCStatistics Droot;
-  double gamma;
-  int verbose;
-  uint topSize;
-  StringA blackList;
-
-  //partly internal: results of a rollout
-  uint rolloutStep;
-  double rolloutR, rolloutDiscount;
-  rai::Array<rai::TreeSearchDomain::Handle> rolloutDecisions;
-
-  PlainMC(rai::TreeSearchDomain& world);
-  void reset();
-
-  double initRollout(const rai::Array<rai::TreeSearchDomain::Handle>& prefixDecisions);
-  double finishRollout(int stepAbort=-1);
-  double generateRollout(int stepAbort=-1, const rai::Array<rai::TreeSearchDomain::Handle>& prefixDecisions= {});
-  double addRollout(int stepAbort=-1);                 ///< adds one more rollout to the tree
-  void addReturnToStatistics(double R, rai::TreeSearchDomain::Handle decision, int decisionIndex=-1);
-  void report();
-  uint getBestActionIdx();
-  rai::TreeSearchDomain::Handle getBestAction();
-};
-
-//===========================================================================
-

robotic/include/rai/MCTS/solver_marc.h

@@ -1,63 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/array.h"
-#include "../Core/graph.h"
-
-//===========================================================================
-
-struct MCTS_Node {
-  MCTS_Node* parent;
-  rai::Array<MCTS_Node*> children;
-  rai::TreeSearchDomain::Handle decision;           ///< what decision (relative to the parent) does this node represent
-
-  double Qup, Qme, Qlo; ///< upper, mean, and lower Q estimates
-  double r, R;          ///< last and total immediate rewards
-  uint N;               ///< # of visits (to normalize immediate rewards)
-  double Q;             ///< total (on-policy) returns
-
-  uint t;               ///< depth of this node
-  void* data;           ///< dummy helper (to convert to other data structures)
-
-  MCTS_Node(MCTS_Node* parent, rai::TreeSearchDomain::Handle decision):parent(parent), decision(decision), Qup(0.), Qme(0.), Qlo(0.), r(0.), R(0.), N(0), Q(0.), t(0), data(nullptr) {
-    if(parent) {
-      t=parent->t+1;
-      parent->children.append(this);
-    }
-  }
-};
-
-//===========================================================================
-
-struct MCTS {
-  rai::TreeSearchDomain& world;
-  MCTS_Node root;
-  int verbose;
-  double beta;
-
-  MCTS(rai::TreeSearchDomain& world):world(world), root(nullptr, nullptr), verbose(2), beta(2.) {}
-
-  void addRollout(int stepAbort=-1);                 ///< adds one more rollout to the tree
-  MCTS_Node* treePolicy(MCTS_Node* n);   ///< policy to choose the child from which to do a rollout or to expand
-  double Qvalue(MCTS_Node* n, int optimistic); ///< current value estimates at a node
-  arr Qfunction(MCTS_Node* n=nullptr, int optimistic=0); ///< the Q-function (value estimates of all children) at a node
-  arr Qvariance(MCTS_Node* n=nullptr);
-  void reportQ(ostream& os, MCTS_Node* n=nullptr);
-  uint Nnodes(MCTS_Node* n=nullptr, bool subTree=true);
-  void reportDecisions(ostream& os, MCTS_Node* n=nullptr);
-
-  //only to display
-  void writeToGraph(rai::Graph& G, MCTS_Node* n=nullptr);
-  rai::Graph getGraph() { rai::Graph G; writeToGraph(G); return G; }
-};
-
-//===========================================================================
-