DESPOT

Overview

Approximate POMDP Planning Online (APPL Online) Toolkit

This software package is a C++ implementation of the DESPOT algorithm¹.

[1] DESPOT: Online POMDP Planning with Regularization. Nan Ye, Adhiraj Somani, David Hsu and Wee Sun Lee. This implementation extends our NIPS 2013 paper with an improved search algorithm, analysis and more empirical results.

Copyright © 2014-2017 by National University of Singapore.

Table of Contents

• Requirements
• Installation
• Quick Start
• Integration
• Documentation
• Package Contents
• Acknowledgements
• Bugs and Suggestions
• Release Notes

Requirements

Tested Operating Systems:

Linux	OS X

Tested Compilers: gcc | g++ 4.2.1 or above

Tested Hardware: Intel Core i7 CPU, 2.0 GB RAM

Other Dependencies: (Optional) CMake (2.8+)

Installation

Clone OR Download and Unzip:

$ git clone https://github.com/AdaCompNUS/despot.git

Compile:

$ cd despot
$ make

This will generate libraries and header files inside a local folder in despot. To install them into your system directory, see Integration.

Quick Start

DESPOT can be used to solve a POMDP specified in the POMDPX format or a POMDP specified in C++ according to the API. We illustrate this on the Tiger problem.

1.To run Tiger specified in C++, compile and run:

$ cd despot/examples/cpp_models/tiger
$ make
$ ./tiger --runs 2

This command computes and simulates DESPOT's policy for N = 2 runs and reports the performance for the tiger problem specified in C++. See doc/Usage.txt for more options.

2.To run Tiger specified in POMDPX format, compile and run:

$ cd despot/examples/pomdpx_models
$ make
$ ./pomdpx -m ./data/Tiger.pomdpx --runs 2 

This command computes and simulates DESPOT's policy for N = 2 runs and reports the performance for the tiger problem specified in POMDPX format. See doc/Usage.txt for more options.

Integration

If you are interested in integrating DESPOT into an existing project or using an IDE for editing, we provide a CMakeLists.txt.

To install DESPOT libraries and header files into your system directory:

$ cd despot
$ mkdir build; cd build
$ cmake ../
$ make
$ sudo make install

To integrate DESPOT into your project, add this to your CMakeLists.txt file:

find_package(Despot CONFIG REQUIRED)

add_executable("YOUR_PROJECT_NAME"
  <your_src_files>
)

target_link_libraries("YOUR_PROJECT_NAME"
  despot
)

Documentation

Documentation can be found in the "doc" directory.

For a description of our example domains and more POMDP problems see the POMDP page.

Package Contents

Makefile                  Makefile for compiling the solver library
README.md                 Overview
include                   Header files
src/core                  Core data structures for the solvers
src/solvers               Solvers, including despot, pomcp and aems
src/pomdpx                Pomdpx and its parser
src/util                  Math and logging utilities
src/ippc                  Interface for International Probabilistic Planning Competition
license                   Licenses and attributions
examples/cpp_models       POMDP models implemented in C++
examples/pomdpx_models    POMDP models implemented in pomdpx
doc/pomdpx_model_doc      Documentation for POMDPX file format
doc/cpp_model_doc         Documentation for implementing POMDP models in C++
doc/Usage.txt             Explanation of command-line options
doc/nips2013.txt          Instruction to obtain results in [1]

Acknowledgements

Pocman implementation and memorypool.h in the package are based on David Silver's POMCP code

Bugs and Suggestions

Please use the issue tracker.

Release Notes

2015/09/28 Initial release.

2017/03/07 Public release. Revised documentation.