refine_plan.algorithms.refine
Functions which bring the stages of BT refinement together.
There are two key stages to refinement: 1. State space extraction and option learning. 2. Semi-MDP construction and solution, and policy->BT conversion.
These two stages are represented with different functions.
Author: Charlie Street Owner: Charlie Street
Module Contents
Functions
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Synthesise a BT using options learned from the initial BT. |
- refine_plan.algorithms.refine.synthesise_bt_from_options(sf_list, option_list, labels, initial_state=None, prism_prop='Rmax=?[F "goal"]', default_action='None', out_file=None)
Synthesise a BT using options learned from the initial BT.
- Parameters:
sf_list – A list of StateFactor objects for the semi-MDP
option_list – A list of Option objects which capture robot capabilities
labels – A list of Label objects within the semi-MDP
initial_state – The semi-MDP initial state (if there is one)
prism_prop – The PRISM property to solve for (passed to Storm)
default_action – The action which replaces any None actions in a policy
out_file – Optional. The path for the final BT XML file
- Returns:
The final refined BT