├── .gitignore ├── COPYING ├── COPYING.LESSER ├── README.md ├── data └── problems │ ├── auvnav │ └── auvnavigation2d.pomdp │ ├── coffee │ └── coffee.90.SPUDD │ ├── hallway │ └── hallway.POMDP │ ├── homecare │ └── homecare.pomdp │ ├── network │ ├── cycle10.SPUDD │ ├── cycle7.SPUDD │ └── cycle9.SPUDD │ ├── rocksample │ ├── RockSample_10_10.SPUDD │ ├── RockSample_10_11.SPUDD │ ├── RockSample_10_15.SPUDD │ ├── RockSample_15_12.SPUDD │ ├── RockSample_7_10.SPUDD │ ├── RockSample_7_8.POMDP │ └── RockSample_7_8.SPUDD │ └── tiger │ └── tiger.95.SPUDD ├── external ├── antlr-3.2.jar ├── arpack_combo-0.1.jar ├── glpk-java.jar ├── jmatharray.jar ├── mtj-0.9.12.jar ├── netlib-java-0.9.1.jar └── ujmp-complete-0.2.4.jar └── src ├── java └── libpomdp │ ├── common │ ├── AlphaVector.java │ ├── BeliefMdp.java │ ├── BeliefState.java │ ├── CustomMatrix.java │ ├── CustomVector.java │ ├── Pomdp.java │ ├── Utils.java │ ├── ValueFunction.java │ ├── add │ │ ├── BeliefStateAdd.java │ │ ├── BeliefStateFactoredAdd.java │ │ ├── PomdpAdd.java │ │ ├── ValueFunctionAdd.java │ │ └── symbolic │ │ │ ├── AbstractMap.java │ │ │ ├── Config.java │ │ │ ├── DD.java │ │ │ ├── DDcollection.java │ │ │ ├── DDleaf.java │ │ │ ├── DDnode.java │ │ │ ├── Global.java │ │ │ ├── HashMap.java │ │ │ ├── LinkedHashMap.java │ │ │ ├── MyDoubleArray.java │ │ │ ├── MySet.java │ │ │ ├── OP.java │ │ │ ├── Pair.java │ │ │ ├── README │ │ │ ├── StreamTokenizer.java │ │ │ ├── TripletConfig.java │ │ │ └── TripletSet.java │ ├── rho │ │ ├── RewardFunction.java │ │ └── RhoPomdp.java │ └── std │ │ ├── BeliefMdpStd.java │ │ ├── BeliefStateStd.java │ │ ├── PomdpStd.java │ │ └── ValueFunctionStd.java │ ├── parser │ ├── DotAlpha.g │ ├── DotAlphaParserStd.java │ ├── DotPomdp.g │ ├── DotPomdpParserStd.java │ ├── FileParser.java │ ├── ParseSPUDD.java │ └── PomdpSpecStd.java │ ├── problemgen │ ├── StateDrawer.java │ ├── catchproblem │ │ ├── AdjacentObs.java │ │ ├── CatchGen.java │ │ ├── CatchGraph.java │ │ ├── CatchGridProperties.java │ │ ├── CatchRectangularGrid.java │ │ ├── CatchTagGenerator.java │ │ ├── CatchTagGrid.java │ │ ├── CatchTagHGrid.java │ │ ├── CollocatedObs.java │ │ ├── OmniWumpus.java │ │ ├── RandomWumpus.java │ │ ├── Sensor.java │ │ └── Wumpus.java │ └── rocksample │ │ ├── RockSampleGen.java │ │ └── RockSampleGraph.java │ ├── simulator │ ├── HybridSimulatorAdd.java │ ├── OnlineRunnerAdd.java │ ├── OnlineSimulatorAdd.java │ ├── PrintSimulatorStatistics.java │ └── SimulatorStatistics.java │ ├── solve │ ├── hybrid │ │ ├── AndOrTreeUpdateAdd.java │ │ ├── BackupHeuristic.java │ │ ├── DOSI.java │ │ ├── HybridValueIterationAndNode.java │ │ └── HybridValueIterationOrNode.java │ ├── offline │ │ ├── Criteria.java │ │ ├── Iteration.java │ │ ├── IterationStats.java │ │ ├── MaxIterationsCriteria.java │ │ ├── bounds │ │ │ ├── BpviAdd.java │ │ │ ├── BpviStd.java │ │ │ ├── QmdpAdd.java │ │ │ └── QmdpStd.java │ │ ├── exact │ │ │ ├── BatchEnumerationStd.java │ │ │ ├── IncrementalPruningStd.java │ │ │ └── OnePassStd.java │ │ ├── pointbased │ │ │ ├── PbParams.java │ │ │ ├── PointBasedStd.java │ │ │ └── PointSet.java │ │ └── vi │ │ │ ├── ValueConvergenceCriteria.java │ │ │ ├── ValueIteration.java │ │ │ ├── ValueIterationStats.java │ │ │ └── ValueIterationStd.java │ └── online │ │ ├── AEMS2.java │ │ ├── AbstractAndOrTree.java │ │ ├── AndNode.java │ │ ├── AndOrTree.java │ │ ├── ExpandHeuristic.java │ │ ├── HeuristicSearchAndNode.java │ │ ├── HeuristicSearchOrNode.java │ │ └── OrNode.java │ └── test │ ├── BatchEnumerationTest.java │ ├── BpviTestAdd.java │ ├── BpviTestStd.java │ ├── IncrementalPruningTest.java │ ├── OnePassTest.java │ ├── PbviFastTest.java │ ├── PbviTest.java │ ├── PerseusDynamicTest.java │ ├── PerseusTest.java │ ├── QmdpTestAdd.java │ ├── QmdpTestStd.java │ ├── RhoIncrementalPruningTest.java │ ├── RhoPbviTest.java │ └── TigerRho.java ├── matlab ├── common │ ├── getMatrix.m │ └── matbg ├── hybridsims │ ├── regions │ │ ├── COFFEE_HYVI_regions_ADD.m │ │ ├── HGRIDTAG_HYVI_regions_ADD.m │ │ ├── HGRIDTAG_HYVI_regions_always_ADD.m │ │ ├── NETCYCLE7_HYVI_regions_ADD.m │ │ ├── NETCYCLE7_HYVI_regions_always_root_ADD.m │ │ ├── NETCYCLE9_HYVI_regions_ADD.m │ │ ├── RS1010_HYVI_regions_ADD.m │ │ ├── RS1010_HYVI_regions_always_ADD.m │ │ ├── RS1010_HYVI_regions_always_root_ADD.m │ │ ├── RS1011_HYVI_regions_ADD.m │ │ ├── RS1011_HYVI_regions_always_ADD.m │ │ ├── RS710_HYVI_regions_ADD.m │ │ ├── RS710_HYVI_regions_always_ADD.m │ │ ├── RS710_HYVI_regions_always_root_ADD.m │ │ ├── RS78_HYVI_regions_ADD.m │ │ ├── RS78_HYVI_regions_always_ADD.m │ │ ├── RS78_HYVI_regions_always_root_ADD.m │ │ ├── TAG_HYVI_regions_ADD.m │ │ └── TAG_HYVI_regions_always_ADD.m │ └── reuse │ │ ├── realtimeCoffeeSimulator_DOSI_RANDreuse_ADD.m │ │ ├── realtimeRS_10_10_Simulator_DOSI_RANDreuse_ADD.m │ │ ├── realtimeRS_15_12_Simulator_DOSI_RANDreuse_ADD.m │ │ ├── realtimeRS_7_8_Simulator_DOSI_RANDreuse_ADD.m │ │ ├── realtimeTagSimulator_DOSI_RANDreuse_ADD.m │ │ ├── realtime_Coffee_HYVI_reuse_ADD.m │ │ ├── realtime_RS_10_10_HYVI_reuse_ADD.m │ │ ├── realtime_RS_15_12_HYVI_reuse_ADD.m │ │ ├── realtime_RS_7_8_HYVI_reuse_ADD.m │ │ ├── realtime_Tag_HYVI_reuse_ADD.m │ │ ├── realtime_netcycle_10_HYVI_reuse_ADD.m │ │ ├── realtime_netcycle_7_HYVI_reuse_ADD.m │ │ └── realtime_netcycle_9_HYVI_reuse_ADD.m ├── offline │ └── computeBounds.m ├── onlinesims │ ├── add │ │ ├── onlineCoffeeSimulatorADD.m │ │ ├── onlineNetCycle_10_SimulatorADD.m │ │ ├── onlineNetCycle_7_SimulatorADD.m │ │ ├── onlineNetCycle_9_SimulatorADD.m │ │ ├── onlineRS_10_10_SimulatorADD.m │ │ ├── onlineRS_10_11_SimulatorADD.m │ │ ├── onlineRS_10_15_SimulatorADD.m │ │ ├── onlineRS_15_12_SimulatorADD.m │ │ ├── onlineRS_7_10_SimulatorADD.m │ │ ├── onlineRS_7_8_SimulatorADD.m │ │ ├── onlineTagHgridSimulatorADD.m │ │ └── onlineTagSimulatorADD.m │ └── std │ │ ├── onlineAUVNavigation2DSTD.m │ │ ├── onlineHomeCareSimulatorSTD.m │ │ └── 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