Hotfix (#49)

* hotfix

* hotfox (needed by python3.12)

* random sample only works on sequences after >py3.9

* manifest

* random sample needs sequence (in rocksample)

Author: zkytony

MANIFEST.in

@@ -10,9 +10,9 @@ include ./pomdp_py/representations/distribution/histogram.pxd
 include ./pomdp_py/framework/planner.pxd
 include ./pomdp_py/framework/basics.pxd
 include ./pomdp_py/framework/oopomdp.pxd
-include ./pomdp_problems/rocksample/cythonize/rocksample_problem.pyx
-include ./pomdp_problems/tiger/cythonize/tiger_problem.pyx
 include ./pomdp_py/utils/cython_utils.pyx
+include ./pomdp_py/problems/rocksample/cythonize/rocksample_problem.pyx
+include ./pomdp_py/problems/tiger/cythonize/tiger_problem.pyx
 include ./pomdp_py/algorithms/value_iteration.pyx
 include ./pomdp_py/algorithms/pomcp.pyx
 include ./pomdp_py/algorithms/po_rollout.pyx

pomdp_py/problems/multi_object_search/domain/action.py

@@ -168,8 +168,8 @@ def __init__(self):
 Find = FindAction()
 
 if MOTION_SCHEME == "xy":
-    ALL_MOTION_ACTIONS = {MoveEast, MoveWest, MoveNorth, MoveSouth}
+    ALL_MOTION_ACTIONS = [MoveEast, MoveWest, MoveNorth, MoveSouth]
 elif MOTION_SCHEME == "vw":
-    ALL_MOTION_ACTIONS = {MoveForward, MoveBackward, MoveLeft, MoveRight}
+    ALL_MOTION_ACTIONS = [MoveForward, MoveBackward, MoveLeft, MoveRight]
 else:
     raise ValueError("motion scheme '%s' is invalid" % MOTION_SCHEME)

pomdp_py/problems/multi_object_search/models/policy_model.py

@@ -34,17 +34,17 @@ def get_all_actions(self, state=None, history=None):
             last_action = history[-1][0]
             if isinstance(last_action, LookAction):
                 can_find = True
-        find_action = set({Find}) if can_find else set({})
+        find_action = [Find] if can_find else []
         if state is None:
-            return ALL_MOTION_ACTIONS | {Look} | find_action
+            return ALL_MOTION_ACTIONS + [Look] + find_action
         else:
             if self._grid_map is not None:
                 valid_motions = self._grid_map.valid_motions(
                     self.robot_id, state.pose(self.robot_id), ALL_MOTION_ACTIONS
                 )
-                return valid_motions | {Look} | find_action
+                return list(valid_motions) + [Look] + find_action
             else:
-                return ALL_MOTION_ACTIONS | {Look} | find_action
+                return ALL_MOTION_ACTIONS + [Look] + find_action
 
     def rollout(self, state, history=None):
         return random.sample(self.get_all_actions(state=state, history=history), 1)[0]

pomdp_py/problems/multi_object_search/problem.py

@@ -209,7 +209,7 @@ def solve(
         visualize (bool) if True, show the pygame visualization.
     """
 
-    random_objid = random.sample(problem.env.target_objects, 1)[0]
+    random_objid = random.sample(sorted(problem.env.target_objects), 1)[0]
     random_object_belief = problem.agent.belief.object_beliefs[random_objid]
     if isinstance(random_object_belief, pomdp_py.Histogram):
         # Use POUCT

pomdp_py/problems/rocksample/rocksample_problem.py

@@ -345,7 +345,7 @@ def argmax(self, state, normalized=False, **kwargs):
     def get_all_actions(self, **kwargs):
         state = kwargs.get("state", None)
         if state is None:
-            return self._all_actions
+            return list(self._all_actions)
         else:
             motions = set(self._all_actions)
             rover_x, rover_y = state.position
@@ -355,7 +355,7 @@ def get_all_actions(self, **kwargs):
                 motions.remove(MoveNorth)
             if rover_y == self._n - 1:
                 motions.remove(MoveSouth)
-            return motions | self._other_actions
+            return list(motions | self._other_actions)
 
     def rollout(self, state, history=None):
         return random.sample(self.get_all_actions(state=state), 1)[0]
@@ -529,7 +529,7 @@ def main():
 
     print("*** Testing POMCP ***")
     pomcp = pomdp_py.POMCP(
-        max_depth=20,
+        max_depth=12,
         discount_factor=0.95,
         num_sims=10000,
         exploration_const=20,

pomdp_py/representations/distribution/gaussian.pyx

@@ -2,7 +2,7 @@ from pomdp_py.framework.basics cimport GenerativeDistribution
 import numpy as np
 
 # Check if scipy exists
-import importlib
+import importlib.util
 scipy_spec = importlib.util.find_spec("scipy")
 if scipy_spec is not None:
     from scipy.linalg import sqrtm

tests/test_conversion_pomdp-solve.py

@@ -3,6 +3,7 @@
 import os
 import io
 import sys
+import glob
 import pomdp_py
 import subprocess
 import inspect