Running examples in ‘pomdp-Ex.R’ failed
The error most likely occurred in:

> ### Name: solve_POMDP
> ### Title: Solve a POMDP Problem using pomdp-solver
> ### Aliases: solve_POMDP solve_POMDP_parameter
> 
> ### ** Examples
> 
> ################################################################
> # Example 1: Solving the simple infinite-horizon Tiger problem
> data("Tiger")
> Tiger
POMDP, list - Tiger Problem
  Discount factor: 0.75
  Horizon: Inf epochs
  List components: ‘name’, ‘discount’, ‘horizon’, ‘states’, ‘actions’,
    ‘observations’, ‘transition_prob’, ‘observation_prob’, ‘reward’,
    ‘start’, ‘terminal_values’
> 
> # look at the model as a list
> unclass(Tiger)
$name
[1] "Tiger Problem"

$discount
[1] 0.75

$horizon
[1] Inf

$states
[1] "tiger-left"  "tiger-right"

$actions
[1] "listen"     "open-left"  "open-right"

$observations
[1] "tiger-left"  "tiger-right"

$transition_prob
$transition_prob$listen
[1] "identity"

$transition_prob$`open-left`
[1] "uniform"

$transition_prob$`open-right`
[1] "uniform"


$observation_prob
$observation_prob$listen
            tiger-left tiger-right
tiger-left        0.85        0.15
tiger-right       0.15        0.85

$observation_prob$`open-left`
[1] "uniform"

$observation_prob$`open-right`
[1] "uniform"


$reward
      action start.state end.state observation value
1     listen           *         *           *    -1
2  open-left  tiger-left         *           *  -100
3  open-left tiger-right         *           *    10
4 open-right  tiger-left         *           *    10
5 open-right tiger-right         *           *  -100

$start
[1] "uniform"

$terminal_values
NULL

> 
> # inspect an individual field of the model (e.g., the reward)
> Tiger$reward
      action start.state end.state observation value
1     listen           *         *           *    -1
2  open-left  tiger-left         *           *  -100
3  open-left tiger-right         *           *    10
4 open-right  tiger-left         *           *    10
5 open-right tiger-right         *           *  -100
> 
> sol <- solve_POMDP(model = Tiger)
> sol
POMDP, list - Tiger Problem
  Discount factor: 0.75
  Horizon: Inf epochs
  Solved. Solution converged: TRUE
  Total expected reward (for start probabilities): 1.933439
  List components: ‘name’, ‘discount’, ‘horizon’, ‘states’, ‘actions’,
    ‘observations’, ‘transition_prob’, ‘observation_prob’, ‘reward’,
    ‘start’, ‘solution’, ‘solver_output’
> 
> # look at solver output
> sol$solver_output
 //****************\\
||   pomdp-solve    ||
||     v. 5.3       ||
 \\****************//
      PID=0
- - - - - - - - - - - - - - - - - - - -
time_limit = 0
force_rounding = false
mcgs_prune_freq = 100
verbose = context
stdout = 
inc_prune = normal
history_length = 0
prune_epsilon = 0.000000
save_all = false
o = /Volumes/Temp/tmp/Rtmpre5szV/pomdp_68e43f0710d2-0
fg_save = true
enum_purge = normal_prune
fg_type = initial
fg_epsilon = 0.000000
mcgs_traj_iter_count = 1
lp_epsilon = 0.000000
end_epsilon = 0.000000
start_epsilon = 0.000000
dom_check = false
stop_delta = 0.000000
q_purge = normal_prune
pomdp = /Volumes/Temp/tmp/Rtmpre5szV/pomdp_68e43f0710d2.POMDP
mcgs_num_traj = 1000
stop_criteria = weak
method = grid
memory_limit = 0
alg_rand = 0
terminal_values = 
save_penultimate = false
epsilon = 0.000000
rand_seed = 
discount = 0.750000
fg_points = 10000
fg_purge = normal_prune
fg_nonneg_rewards = false
proj_purge = normal_prune
mcgs_traj_length = 100
history_delta = 0
f = 
epsilon_adjust = 0.000000
grid_filename = 
prune_rand = 0
vi_variation = normal
horizon = 0
stat_summary = false
max_soln_size = 0.000000
witness_points = false
- - - - - - - - - - - - - - - - - - - -
[Initializing POMDP ... done.]
[Finite Grid Method:]
    [Creating grid ... done.]
    [Grid has 25 points.]
    Grid saved to /Volumes/Temp/tmp/Rtmpre5szV/pomdp_68e43f0710d2-0.belief.
The initial policy being used:
Alpha List: Length=1
<id=0: a=0> [-400.000000 -400.000000]
++++++++++++++++++++++++++++++++++++++++
Epoch: 1...3 vectors (delta=1.10e+02)
Epoch: 2...5 vectors (delta=7.85e+01)
Epoch: 3...5 vectors (delta=5.89e+01)
Epoch: 4...5 vectors (delta=4.42e+01)
Epoch: 5...5 vectors (delta=3.27e+01)
Epoch: 6...5 vectors (delta=2.45e+01)
Epoch: 7...5 vectors (delta=1.84e+01)
Epoch: 8...5 vectors (delta=1.37e+01)
Epoch: 9...5 vectors (delta=1.02e+01)
Epoch: 10...5 vectors (delta=7.68e+00)
Epoch: 11...5 vectors (delta=5.72e+00)
Epoch: 12...5 vectors (delta=4.29e+00)
Epoch: 13...5 vectors (delta=3.22e+00)
Epoch: 14...5 vectors (delta=2.41e+00)
Epoch: 15...5 vectors (delta=1.81e+00)
Epoch: 16...5 vectors (delta=1.36e+00)
Epoch: 17...5 vectors (delta=1.02e+00)
Epoch: 18...5 vectors (delta=7.63e-01)
Epoch: 19...5 vectors (delta=5.71e-01)
Epoch: 20...5 vectors (delta=4.29e-01)
Epoch: 21...5 vectors (delta=3.21e-01)
Epoch: 22...5 vectors (delta=2.41e-01)
Epoch: 23...5 vectors (delta=1.81e-01)
Epoch: 24...5 vectors (delta=1.35e-01)
Epoch: 25...5 vectors (delta=1.02e-01)
Epoch: 26...5 vectors (delta=7.62e-02)
Epoch: 27...5 vectors (delta=5.71e-02)
Epoch: 28...5 vectors (delta=4.28e-02)
Epoch: 29...5 vectors (delta=3.21e-02)
Epoch: 30...5 vectors (delta=2.41e-02)
Epoch: 31...5 vectors (delta=1.81e-02)
Epoch: 32...5 vectors (delta=1.35e-02)
Epoch: 33...5 vectors (delta=1.02e-02)
Epoch: 34...5 vectors (delta=7.62e-03)
Epoch: 35...5 vectors (delta=5.71e-03)
Epoch: 36...5 vectors (delta=4.28e-03)
Epoch: 37...5 vectors (delta=3.21e-03)
Epoch: 38...5 vectors (delta=2.41e-03)
Epoch: 39...5 vectors (delta=1.81e-03)
Epoch: 40...5 vectors (delta=1.36e-03)
Epoch: 41...5 vectors (delta=1.02e-03)
Epoch: 42...5 vectors (delta=7.62e-04)
Epoch: 43...5 vectors (delta=5.72e-04)
Epoch: 44...5 vectors (delta=4.29e-04)
Epoch: 45...5 vectors (delta=3.22e-04)
Epoch: 46...5 vectors (delta=2.41e-04)
Epoch: 47...5 vectors (delta=1.81e-04)
Epoch: 48...5 vectors (delta=1.36e-04)
Epoch: 49...5 vectors (delta=1.02e-04)
Epoch: 50...5 vectors (delta=7.63e-05)
Epoch: 51...5 vectors (delta=5.72e-05)
Epoch: 52...5 vectors (delta=4.29e-05)
Epoch: 53...5 vectors (delta=3.22e-05)
Epoch: 54...5 vectors (delta=2.42e-05)
Epoch: 55...5 vectors (delta=1.81e-05)
Epoch: 56...5 vectors (delta=1.36e-05)
Epoch: 57...5 vectors (delta=1.02e-05)
Epoch: 58...5 vectors (delta=7.64e-06)
Epoch: 59...5 vectors (delta=5.73e-06)
Epoch: 60...5 vectors (delta=4.30e-06)
Epoch: 61...5 vectors (delta=3.22e-06)
Epoch: 62...5 vectors (delta=2.42e-06)
Epoch: 63...5 vectors (delta=1.81e-06)
Epoch: 64...5 vectors (delta=1.36e-06)
Epoch: 65...5 vectors (delta=1.02e-06)
Epoch: 66...5 vectors (delta=7.65e-07)
Epoch: 67...5 vectors (delta=5.74e-07)
Epoch: 68...5 vectors (delta=4.30e-07)
Epoch: 69...5 vectors (delta=3.23e-07)
Epoch: 70...5 vectors (delta=2.42e-07)
Epoch: 71...5 vectors (delta=1.82e-07)
Epoch: 72...5 vectors (delta=1.36e-07)
Epoch: 73...5 vectors (delta=1.02e-07)
Epoch: 74...5 vectors (delta=7.66e-08)
Epoch: 75...5 vectors (delta=5.74e-08)
Epoch: 76...5 vectors (delta=4.31e-08)
Epoch: 77...5 vectors (delta=3.23e-08)
Epoch: 78...5 vectors (delta=2.42e-08)
Epoch: 79...5 vectors (delta=1.82e-08)
Epoch: 80...5 vectors (delta=1.36e-08)
Epoch: 81...5 vectors (delta=1.02e-08)
Epoch: 82...5 vectors (delta=7.67e-09)
Epoch: 83...5 vectors (delta=5.75e-09)
Epoch: 84...5 vectors (delta=4.31e-09)
Epoch: 85...5 vectors (delta=3.23e-09)
Epoch: 86...5 vectors (delta=2.43e-09)
Epoch: 87...5 vectors (delta=1.82e-09)
Epoch: 88...5 vectors (delta=1.36e-09)
Epoch: 89...5 vectors (delta=1.02e-09)
Epoch: 90...5 vectors (delta=0.00e+00)
++++++++++++++++++++++++++++++++++++++++
Solution found.  See file:
	/Volumes/Temp/tmp/Rtmpre5szV/pomdp_68e43f0710d2-0.alpha
	/Volumes/Temp/tmp/Rtmpre5szV/pomdp_68e43f0710d2-0.pg
++++++++++++++++++++++++++++++++++++++++> 
> # look at the solution
> sol$solution
$method
[1] "grid"

$parameter
NULL

$converged
[1] TRUE

$total_expected_reward
[1] 1.933439

$initial_belief
 tiger-left tiger-right 
        0.5         0.5 

$initial_pg_node
[1] 3

$belief_states
        tiger-left  tiger-right
 [1,] 5.000000e-01 5.000000e-01
 [2,] 8.500000e-01 1.500000e-01
 [3,] 1.500000e-01 8.500000e-01
 [4,] 9.697987e-01 3.020134e-02
 [5,] 3.020134e-02 9.697987e-01
 [6,] 9.945344e-01 5.465587e-03
 [7,] 5.465587e-03 9.945344e-01
 [8,] 9.990311e-01 9.688763e-04
 [9,] 9.688763e-04 9.990311e-01
[10,] 9.998289e-01 1.711147e-04
[11,] 1.711147e-04 9.998289e-01
[12,] 9.999698e-01 3.020097e-05
[13,] 3.020097e-05 9.999698e-01
[14,] 9.999947e-01 5.329715e-06
[15,] 5.329715e-06 9.999947e-01
[16,] 9.999991e-01 9.405421e-07
[17,] 9.405421e-07 9.999991e-01
[18,] 9.999998e-01 1.659782e-07
[19,] 1.659782e-07 9.999998e-01
[20,] 1.000000e+00 2.929027e-08
[21,] 2.929027e-08 1.000000e+00
[22,] 1.000000e+00 5.168871e-09
[23,] 5.168871e-09 1.000000e+00
[24,] 1.000000e+00 9.121536e-10
[25,] 9.121536e-10 1.000000e+00

$pg
$pg[[1]]
  node     action tiger-left tiger-right
1    1  open-left          3           3
2    2     listen          3           1
3    3     listen          4           2
4    4     listen          5           3
5    5 open-right          3           3


$alpha
$alpha[[1]]
     tiger-left tiger-right
[1,] -98.549921   11.450079
[2,] -10.854299    6.516937
[3,]   1.933439    1.933439
[4,]   6.516937  -10.854299
[5,]  11.450079  -98.549921


$policy
$policy[[1]]
  tiger-left tiger-right     action
1 -98.549921   11.450079  open-left
2 -10.854299    6.516937     listen
3   1.933439    1.933439     listen
4   6.516937  -10.854299     listen
5  11.450079  -98.549921 open-right


attr(,"class")
[1] "POMDP_solution"
> 
> # policy (value function (alpha vectors), optimal action and observation dependent transitions)
> policy(sol)
[[1]]
  tiger-left tiger-right     action
1 -98.549921   11.450079  open-left
2 -10.854299    6.516937     listen
3   1.933439    1.933439     listen
4   6.516937  -10.854299     listen
5  11.450079  -98.549921 open-right

> 
> # plot the policy graph of the infinite-horizon POMDP
> plot_policy_graph(sol)
> 
> # value function
> plot_value_function(sol, ylim = c(0,20))
> 
> # display available solver options which can be passed on to the solver as parameters.
> solve_POMDP_parameter()
Usage: /Volumes/Builds/packages/big-sur-arm64/Rlib/4.1/pomdpSolve/bin//pomdp-solve [opts...] [args...]
General options:
	-force_rounding [ false, true ]
	-stdout <string>
	-save_penultimate [ false, true ]
	-rand_seed <string>
	-f <string>
	-stat_summary [ false, true ]
Resource Limits options:
	-time_limit <int>
	-memory_limit <int>
Algorithm options:
	-mcgs_prune_freq <int>
	-inc_prune [ normal, restricted_region, generalized ]
	-fg_save [ false, true ]
	-enum_purge [ none, domonly, normal_prune, epsilon_prune ]
	-fg_type [ simplex, pairwise, search, initial, file ]
	-mcgs_traj_iter_count <int>
	-mcgs_num_traj <int>
	-method [ enum, twopass, linsup, witness, incprune, grid, mcgs ]
	-fg_points <int>
	-fg_purge [ none, domonly, normal_prune, epsilon_prune ]
	-fg_nonneg_rewards [ false, true ]
	-mcgs_traj_length <int>
	-grid_filename <string>
Optimization options:
	-prune_epsilon <double>
	-fg_epsilon <double>
	-lp_epsilon <double>
	-dom_check [ false, true ]
	-q_purge [ none, domonly, normal_prune, epsilon_prune ]
	-alg_rand <int>
	-epsilon <double>
	-proj_purge [ none, domonly, normal_prune, epsilon_prune ]
	-prune_rand <int>
	-witness_points [ false, true ]
Debug options:
	-verbose [ context, lp, global, timing, stats, cmdline, main, 
	           alpha, proj, crosssum, agenda, enum, twopass, linsup, 
	           witness, incprune, lpinterface, vertexenum, mdp, pomdp, 
	           param, parsimonious, region, approx_mcgs, zlz_speedup, 
	           finite_grid, mcgs ]
Value Iteration options:
	-history_length <int>
	-save_all [ false, true ]
	-o <string>
	-end_epsilon <double>
	-start_epsilon <double>
	-stop_delta <double>
	-pomdp <string>
	-stop_criteria [ exact, weak, bellman ]
	-terminal_values <string>
	-discount <double>
	-history_delta <int>
	-epsilon_adjust <double>
	-vi_variation [ normal, zlz, adjustable_epsilon, fixed_soln_size ]
	-horizon <int>
	-max_soln_size <double>

Use the parameter options in solve_POMDP without the leading '-' in the form:
	parameter = list(fg_points = 100)
Note: Not all parameter options are available (e.g., resource limitations, -pomdp, -horizon).
> 
> ################################################################
> # Example 2: Solve a problem specified as a POMDP file
> #            using a grid of size 10
> sol <- solve_POMDP("http://www.pomdp.org/examples/cheese.95.POMDP",
+   method = "grid", parameter = list(fg_points = 10))
Error in eval(substitute(expr), e) : 
  The start probability vector does not add up to 1.
Calls: solve_POMDP ... check_and_fix_MDP -> within -> within.list -> eval -> eval
Execution halted