ParticleFilters fails on discrete POMDPs

[FlyingWorkshop]

Steps to recreate:

using POMDPs, POMDPModels, POMDPTools
using ParticleFilters

using CompressedBeliefMDPs

using Random
Random.seed!(1)

pomdp = BabyPOMDP()
updater = SIRParticleFilter(pomdp, 1000)
solver = CompressedBeliefSolver(pomdp; updater=updater)
policy = solve(solver, pomdp)

Output:

julia> include("arena/filter_test.jl")
ERROR: LoadError: DimensionMismatch: dimensions must match: a has dims (Base.OneTo(1000),), b has dims (Base.OneTo(2),), mismatch at 1
Stacktrace:
  [1] promote_shape
    @ ./indices.jl:178 [inlined]
  [2] promote_shape
    @ ./indices.jl:169 [inlined]
  [3] -(A::Vector{Float64}, B::Vector{Float64})
    @ Base ./arraymath.jl:7
  [4] centralize(x::Vector{Float64}, m::Vector{Float64})
    @ MultivariateStats ~/.julia/packages/MultivariateStats/zLpz8/src/common.jl:15
  [5] predict(M::MultivariateStats.PCA{Float64}, x::Vector{Float64})
    @ MultivariateStats ~/.julia/packages/MultivariateStats/zLpz8/src/pca.jl:122
  [6] (::MVSCompressor{MultivariateStats.PCA})(beliefs::Vector{Float64})
    @ CompressedBeliefMDPs ~/VSCodeProjects/BeliefCompression/CompressedBeliefMDPs/src/compressors/mvs_compressors.jl:21
  [7] CompressedBeliefMDP(pomdp::BabyPOMDP, updater::BasicParticleFilter{…}, compressor::MVSCompressor{…})
    @ CompressedBeliefMDPs ~/VSCodeProjects/BeliefCompression/CompressedBeliefMDPs/src/cbmdp.jl:45
  [8] _make_compressed_belief_MDP(pomdp::BabyPOMDP, sampler::BeliefExpansionSampler, updater::BasicParticleFilter{…}, compressor::MVSCompressor{…})
    @ CompressedBeliefMDPs ~/VSCodeProjects/BeliefCompression/CompressedBeliefMDPs/src/solver.jl:96
  [9] CompressedBeliefSolver(pomdp::BabyPOMDP; updater::BasicParticleFilter{…}, sampler::BeliefExpansionSampler, compressor::MVSCompressor{…}, interp::Nothing, k::Int64, verbose::Bool, max_iterations::Int64, n_generative_samples::Int64, belres::Float64)
    @ CompressedBeliefMDPs ~/VSCodeProjects/BeliefCompression/CompressedBeliefMDPs/src/solver.jl:127
 [10] top-level scope
    @ ~/VSCodeProjects/BeliefCompression/arena/filter_test.jl:12
 [11] include(fname::String)
    @ Base.MainInclude ./client.jl:489
 [12] top-level scope
    @ REPL[1]:1
 [13] top-level scope
    @ ~/.julia/packages/Infiltrator/TNlCu/src/Infiltrator.jl:798
in expression starting at /Users/logan/VSCodeProjects/BeliefCompression/arena/filter_test.jl:12
Some type information was truncated. Use `show(err)` to see complete types.

[FlyingWorkshop]

You have to update the sampler too:

using POMDPs, POMDPModels, POMDPTools
using ParticleFilters

using CompressedBeliefMDPs


using Random
Random.seed!(1)

pomdp = BabyPOMDP()
updater = SIRParticleFilter(pomdp, 1000)
solver = CompressedBeliefSolver(
    pomdp; 
    updater=updater, 
    sampler=PolicySampler(pomdp; updater=updater)
)
policy = solve(solver, pomdp)