MakeFigure7

  Generates Figure 7.

   Figure 7-left shows the execution time for the first iteration of
   Perseus in a discretized version of the problem in Figure 1 with an
   increasing number of states.

   Figure 7-right show the average accumulated discounted reward when
   solving the discrete version of the problem in Figure 1 with 20 and 200
   states, comparing it with the average accumulated discounted reward
   obtained when solving the continuous version of the problem.

   NOTE: There is a large difference between the results you will obtain
         in this experiment and those in the paper.
         As mentioned in page 29, the discrete version of Perseus can be
         sped up vectorizing its operations and exploiting the sparsity of
         the matrices defining the models. In the old version we did not
         use those enhancements but we do in the current implementation.

0001 function MakeFigure7
0002 %  Generates Figure 7.
0003 %
0004 %   Figure 7-left shows the execution time for the first iteration of
0005 %   Perseus in a discretized version of the problem in Figure 1 with an
0006 %   increasing number of states.
0007 %
0008 %   Figure 7-right show the average accumulated discounted reward when
0009 %   solving the discrete version of the problem in Figure 1 with 20 and 200
0010 %   states, comparing it with the average accumulated discounted reward
0011 %   obtained when solving the continuous version of the problem.
0012 %
0013 %   NOTE: There is a large difference between the results you will obtain
0014 %         in this experiment and those in the paper.
0015 %         As mentioned in page 29, the discrete version of Perseus can be
0016 %         sped up vectorizing its operations and exploiting the sparsity of
0017 %         the matrices defining the models. In the old version we did not
0018 %         use those enhancements but we do in the current implementation.
0019 
0020   fprintf('Loading/Generating the simulation results\n');
0021   fname='Results/Test1-Figure7-a.mat';
0022   GenData=@()(GenerateFigure7aData(fname));
0023   Results=GetData(fname,GenData);
0024 
0025   h=clf;
0026   set(h,'name','C-POMDP Figure 7','numbertitle','off');
0027   
0028   subplot(1,2,1);
0029   bar(Results.ns,Results.tp);
0030 
0031   xlabel('No. States');
0032   ylabel('time (s)');
0033   
0034   fprintf('Loading/Generating the simulation results with normal parameters\n');
0035   GenData=@()(TestRepWithStatistics('Test1','Figure2',1:10));
0036   ResultsNormal=GetData('Results/Test1-Figure2-results.mat',GenData);
0037   
0038   [POMDP P]=GetTest1Parameters;
0039   
0040   fprintf('Loading/Generating the simulation results with 20 states\n');
0041   DPOMDP=Discretize(POMDP,20);
0042   P.start=DBelief(UniformDistribution(get(DPOMDP,'StateSpace')));
0043   GenData=@()(TestRepWithStatistics(DPOMDP,P,'Figure7-b1',1:10));
0044   ResultsD20=GetData('Results/Test1-discrete-20-Figure7-b1-results.mat',GenData);
0045   
0046   fprintf('Loading/Generating the simulation results with 200 states\n');
0047   DPOMDP=Discretize(POMDP,200);
0048   P.start=DBelief(UniformDistribution(get(DPOMDP,'StateSpace')));
0049   GenData=@()(TestRepWithStatistics(DPOMDP,P,'Figure7-b2',1:10));
0050   ResultsD200=GetData('Results/Test1-discrete-200-Figure7-b2-results.mat',GenData);
0051   
0052   
0053   subplot(1,2,2);
0054   plot(ResultsD20.tics,ResultsD20.SM.R,'linestyle',':');
0055   hold on;
0056   plot(ResultsD200.tics,ResultsD200.SM.R,'linestyle','--');
0057   plot(ResultsNormal.tics,ResultsNormal.SM.R);
0058   
0059   legend('Discrete PERSEUS (20 states)','Discrete PERSEUS (200 states)','Continuous-State PERSEUS');
0060   
0061   xlabel('time (s)');
0062   ylabel('Acc. Disc. Reward');