## 04ps-10 Stochastic Motion Solution

• 0:00 - 0:02
Here is my solution.
• 0:02 - 0:05
As I go through all different actions a, as before,
• 0:05 - 0:10
I now create a new inner loop of going through different action outcomes.
• 0:10 - 0:14
This lists is (-1, 0, 1),
• 0:14 - 0:17
and I set the actual outcome to the adjacent action in the action list.
• 0:17 - 0:21
You might remember the action list is a list of different outcomes.
• 0:21 - 0:27
By incrementing it by 1 or decrementing it by 1, I can pick a slightly different action in that list.
• 0:27 - 0:30
Of course, I have to do the modulo 4 on the right side.
• 0:30 - 0:36
Then the limitation is similar to before. I project the outcome into new coordinates--x2 and y2.
• 0:36 - 0:39
Now I need to assign the probability with this outcome
• 0:39 - 0:42
where if they modify a 0, we take the success probability.
• 0:42 - 0:49
If it's not 0, we take 1 minus that divided by 2, because there are 2 possible undesired outcomes.
• 0:49 - 0:52
Then the test proceeds by checking whether this is a legal grid cell,
• 0:52 - 0:55
it's inside the grid, and the grid value is 0.
• 0:55 - 0:59
Then like before, I add the value of the grid cell
• 0:59 - 1:03
by now multiplying by the probability of that specific action outcome.
• 1:03 - 1:06
Otherwise, I do the same for the collision cost.
• 1:06 - 1:12
Finally, I take my cumulative value of v2, which I initialized with the cost of motion.
• 1:12 - 1:14
You can't see this right here, but it's filled up.
• 1:14 - 1:17
I update my value function just like before.
• 1:17 - 1:19
You can see the quote over here.
• 1:19 - 1:21
This is what you should have programmed.
• 1:21 - 1:26
The key difference to our example in class is the inner loop over here
• 1:26 - 1:29
where I go over different possible action outcomes,
• 1:29 - 1:32
compute the actual action outcome,
• 1:32 -
and then do the probabilistic addition of these outcomes rather than just studying one outcome.
タイトル：
04ps-10 Stochastic Motion Solution

dummy description

more » « less
Team:
Udacity
プロジェクト：
CS373 - Artificial Intelligence
Duration:
01:38