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1
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2 seed = 0;
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3 rand('state', seed);
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4 randn('state', seed);
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5
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6 discrete_obs = 1;
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7 topright = 0;
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8
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9 Qsizes = [2 4 2];
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10 D = 3;
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11 Qnodes = 1:D;
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12 startprob = cell(1,D);
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13 transprob = cell(1,D);
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14 termprob = cell(1,D);
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15
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16 % LEVEL 1
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17
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18 startprob{1} = 'ergodic';
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19 transprob{1} = 'ergodic';
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20
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21 % LEVEL 2
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22
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23 startprob{2} = zeros(2, 4);
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24 startprob{2}(1, :) = [1 0 0 0];
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25 if topright
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26 startprob{2}(2, :) = [0 0 1 0];
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27 else
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28 startprob{2}(2, :) = [0 1 0 0];
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29 end
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30
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31 transprob{2} = zeros(4, 2, 4);
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32
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33 transprob{2}(:,1,:) = [0 1 0 0
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34 0 0 1 0
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35 0 0 0 1
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36 0 0 0 1]; % 4->e
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37 if topright
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38 transprob{2}(:,2,:) = [0 0 0 1
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39 1 0 0 0
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40 0 1 0 0
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41 0 0 0 1]; % 4->e
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42 else
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43 transprob{2}(:,2,:) = [0 0 0 1
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44 1 0 0 0
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45 0 0 1 0 % 3->e
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46 0 0 1 0];
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47 end
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48
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49 %termprob{2} = 'rightstop';
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50 termprob{2} = zeros(2,4,2);
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51 pfin = 0.8;
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52 termprob{2}(1,:,2) = [0 0 0 pfin]; % finish in state 4 (DU)
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53 termprob{2}(1,:,1) = 1 - [0 0 0 pfin];
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54 if topright
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55 termprob{2}(2,:,2) = [0 0 0 pfin];
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56 termprob{2}(2,:,1) = 1 - [0 0 0 pfin];
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57 else
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58 termprob{2}(2,:,2) = [0 0 pfin 0]; % finish in state 3 (RL)
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59 termprob{2}(2,:,1) = 1 - [0 0 pfin 0];
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60 end
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61
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62 % LEVEL 3
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63
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64 startprob{3} = 'leftstart';
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65 transprob{3} = 'leftright';
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66 termprob{3} = 'rightstop';
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67
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68
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69 % OBS LEVEl
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70
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71 if discrete_obs
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72 chars = ['L', 'l', 'U', 'u', 'R', 'r', 'D', 'd'];
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73 L=find(chars=='L'); l=find(chars=='l');
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74 U=find(chars=='U'); u=find(chars=='u');
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75 R=find(chars=='R'); r=find(chars=='r');
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76 D=find(chars=='D'); d=find(chars=='d');
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77 Osize = length(chars);
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78
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79 obsprob = zeros([4 2 Osize]);
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80 % Q2 Q3 O
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81 obsprob(1, 1, L) = 1.0;
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82 obsprob(1, 2, l) = 1.0;
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83 obsprob(2, 1, U) = 1.0;
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84 obsprob(2, 2, u) = 1.0;
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85 obsprob(3, 1, R) = 1.0;
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86 obsprob(3, 2, r) = 1.0;
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87 obsprob(4, 1, D) = 1.0;
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88 obsprob(4, 2, d) = 1.0;
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89
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90 Oargs = {'CPT', obsprob};
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91 else
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92 Osize = 2;
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93 mu = zeros(2, 4, 2);
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94 noise = 0;
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95 scale = 10;
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96 for q3=1:2
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97 mu(:, 1, q3) = scale*[1;0] + noise*rand(2,1);
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98 end
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99 for q3=1:2
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100 mu(:, 2, q3) = scale*[0;-1] + noise*rand(2,1);
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101 end
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102 for q3=1:2
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103 mu(:, 3, q3) = scale*[-1;0] + noise*rand(2,1);
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104 end
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105 for q3=1:2
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106 mu(:, 4, q3) = scale*[0;1] + noise*rand(2,1);
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107 end
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108 Sigma = repmat(reshape(0.01*eye(2), [2 2 1 1 ]), [1 1 4 2]);
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109 Oargs = {'mean', mu, 'cov', Sigma};
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110 end
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111
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112 bnet = mk_hhmm('Qsizes', Qsizes, 'Osize', Osize', 'discrete_obs', discrete_obs, ...
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113 'Oargs', Oargs, 'Ops', Qnodes(2:3), ...
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114 'startprob', startprob, 'transprob', transprob, 'termprob', termprob);
|
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115
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116 if discrete_obs
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117 Tmax = 30;
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118 else
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119 Tmax = 200;
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120 end
|
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121 usecell = ~discrete_obs;
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122 Q1 = 1; Q2 = 2; Q3 = 3; F3 = 4; F2 = 5; Onode = 6;
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123 Qnodes = [Q1 Q2 Q3]; Fnodes = [F2 F3];
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124
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125 for seqi=1:3
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126 evidence = sample_dbn(bnet, Tmax, usecell, 'stop_sampling_F2');
|
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127 T = size(evidence, 2)
|
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128 if discrete_obs
|
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129 pretty_print_hhmm_parse(evidence, Qnodes, Fnodes, Onode, chars);
|
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130 else
|
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131 pos = zeros(2,T+1);
|
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132 delta = cell2num(evidence(Onode,:));
|
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133 clf
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134 hold on
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135 cols = {'r', 'g', 'k', 'b'};
|
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136 boundary = cell2num(evidence(F3,:))-1;
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137 coli = 1;
|
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138 for t=2:T+1
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139 pos(:,t) = pos(:,t-1) + delta(:,t-1);
|
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140 plot(pos(1,t), pos(2,t), sprintf('%c.', cols{coli}));
|
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141 if boundary(t-1)
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142 coli = coli + 1;
|
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143 coli = mod(coli-1, length(cols)) + 1;
|
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|
144 end
|
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|
145 end
|
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146 %plot(pos(1,:), pos(2,:), '.')
|
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|
147 %pretty_print_hhmm_parse(evidence, Qnodes, Fnodes, Onode, []);
|
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|
148 pause
|
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|
149 end
|
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|
150 end
|
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|
151
|
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|
152 eclass = bnet.equiv_class;
|
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153 S=struct(bnet.CPD{eclass(Q2,2)});
|
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|
154
|
wolffd@0
|
155
|
wolffd@0
|
156
|
wolffd@0
|
157
|
wolffd@0
|
158
|
wolffd@0
|
159
|
wolffd@0
|
160
|