GWNavigation.jl

Implimentation of the Grid World Navigation problem [1] with the POMDPs.jl interface.

[1] Kim E, Karunanayake Y, Kurniawati H. Reference-based POMDPs, NeurIPS 23

Grid World 20x20

Grid World 60x60

Installation

using Pkg
Pkg.add("https://github.com/RDLLab/GWNavigation.jl.git")

Example

This example uses the implimented visualization simulator, but can be used with any POMDPTools.jl simulator. Visualizer is implemented as a package extantion that depends on the GLMakie package.

using GWNavigation
using ParticleFilters
using POMDPs
using POMDPTools
using GLMakie   # This activates GWNavigationSimExt 

#Default 20x20 GridWorld, Only impliments 20x20, 60x60 Grid Worlds
pomdp = GWNavigationPOMDP(grid_size=20)
# Greedy A* distance based policy implimentation
policy = GWAStarPolicy(pomdp; uniform_weight=0.1)

updater = BootstrapFilter(pomdp, 1000, postprocess=GWNavigationParticlePostProcessor(pomdp))
simulator = GWNavigationSimulator(max_steps=30)

POMDPs.simulate(simulator, pomdp, policy, updater)

Visualize A* Policy

using GWNavigation
using POMDPs
using GLMakie   # This activates GWNavigationSimExt, which allows clalling the "GWNavigation.plot_astar_policy" funtion.

pomdp = GWNavigationPOMDP(grid_size=20)
policy = GWAStarPolicy(pomdp; uniform_weight=0.1)

GWNavigation.plot_astar_policy(pomdp, policy)