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We study an approach to policy selection for large relational Markov Decision Processes (MDPs). We consider a variant of approximate policy iteration (API) that replaces the usual value-function learning step with a learning step in policy…
Partial Observability -- where agents can only observe partial information about the true underlying state of the system -- is ubiquitous in real-world applications of Reinforcement Learning (RL). Theoretically, learning a near-optimal…
Markov decision problems (MDPs) provide the foundations for a number of problems of interest to AI researchers studying automated planning and reinforcement learning. In this paper, we summarize results regarding the complexity of solving…
In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…
We consider sensor scheduling as the optimal observability problem for partially observable Markov decision processes (POMDP). This model fits to the cases where a Markov process is observed by a single sensor which needs to be dynamically…
POMDPs are standard models for probabilistic planning problems, where an agent interacts with an uncertain environment. We study the problem of almost-sure reachability, where given a set of target states, the question is to decide whether…
We consider a distributionally robust Partially Observable Markov Decision Process (DR-POMDP), where the distribution of the transition-observation probabilities is unknown at the beginning of each decision period, but their realizations…
Planning in partially observable Markov decision processes (POMDPs) remains a challenging topic in the artificial intelligence community, in spite of recent impressive progress in approximation techniques. Previous research has indicated…
We propose a new approach to the problem of searching a space of policies for a Markov decision process (MDP) or a partially observable Markov decision process (POMDP), given a model. Our approach is based on the following observation: Any…
Partially observable Markov decision processes (POMDPs) provide a modeling framework for a variety of sequential decision making under uncertainty scenarios in artificial intelligence (AI). Since the states are not directly observable in a…
Piecewise Deterministic Monte Carlo algorithms enable simulation from a posterior distribution, whilst only needing to access a sub-sample of data at each iteration. We show how they can be implemented in settings where the parameters live…
Partially Observable Markov Decision Process (POMDP) is a mathematical framework for modeling decision-making under uncertainty, where the agent's observations are incomplete and the underlying system dynamics are probabilistic. Solving the…
Much of reinforcement learning theory is built on top of oracles that are computationally hard to implement. Specifically for learning near-optimal policies in Partially Observable Markov Decision Processes (POMDPs), existing algorithms…
We study computational and statistical aspects of learning Latent Markov Decision Processes (LMDPs). In this model, the learner interacts with an MDP drawn at the beginning of each epoch from an unknown mixture of MDPs. To sidestep known…
The fixed-horizon constrained Markov Decision Process (C-MDP) is a well-known model for planning in stochastic environments under operating constraints. Chance-Constrained MDP (CC-MDP) is a variant that allows bounding the probability of…
This article presents the complexity of reachability decision problems for parametric Markov decision processes (pMDPs), an extension to Markov decision processes (MDPs) where transitions probabilities are described by polynomials over a…
We study a class of multi-stage stochastic programs, which incorporate modeling features from Markov decision processes (MDPs). This class includes structured MDPs with continuous action and state spaces. We extend policy graphs to include…
Partially observable Markov decision processes (POMDPs) is a rich mathematical framework that embraces a large class of complex sequential decision-making problems under uncertainty with limited observations. However, the complexity of…
This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of multi-modal uncertainty introduced by other agents in the…
Planning under partial observability is an essential capability of autonomous robots. The Partially Observable Markov Decision Process (POMDP) provides a powerful framework for planning under partial observability problems, capturing the…