Belief Updaters

The only updater currently implemented is the MOMDPs.MOMDPDiscreteUpdater.

MOMDPDiscreteUpdater

The MOMDPs.MOMDPDiscreteUpdater is a discrete belief updater for MOMDPs. The update function implements the discrete Bayesian filter for MOMDPs, which updates beliefs over hidden states given knowledge of visible state transitions. The update function requires the current belief b, the action taken a, the observation received o, the visible state from which the action was taken x, and the visible state that we transitioned to xp.

Example Usage

momdp = YourMOMDPProblem()
updater = MOMDPDiscreteUpdater(momdp)

# Initialize belief over hidden states
initial_dist = initialstate_y(momdp)

# Update belief after taking action and receiving observation
new_belief = update(updater, current_belief, action_taken, observation_received, x, xp)