Related papers: Learning in POMDPs is Sample-Efficient with Hindsi…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

This paper studies the synthesis of a joint control and active perception policy for a stochastic system modeled as a partially observable Markov decision process (POMDP), subject to temporal logic specifications. The POMDP actions…

The partially observable Markov decision process (POMDP) provides a principled general framework for planning under uncertainty, but solving POMDPs optimally is computationally intractable, due to the "curse of dimensionality" and the…

We study a subclass of POMDPs, called Deterministic POMDPs, that is characterized by deterministic actions and observations. These models do not provide the same generality of POMDPs yet they capture a number of interesting and challenging…

We study reinforcement learning for partially observed Markov decision processes (POMDPs) with infinite observation and state spaces, which remains less investigated theoretically. To this end, we make the first attempt at bridging partial…

We consider partially observable Markov decision processes (POMDPs), that are a standard framework for robotics applications to model uncertainties present in the real world, with temporal logic specifications. All temporal logic…

Decision-making under uncertainty is a critical aspect of many practical autonomous systems due to incomplete information. Partially Observable Markov Decision Processes (POMDPs) offer a mathematically principled framework for formulating…

The continuous nature of belief states in POMDPs presents significant computational challenges in learning the optimal policy. In this paper, we consider an approach that solves a Partially Observable Reinforcement Learning (PORL) problem…

Partially Observable Markov Decision Process (POMDP) is a framework applicable to many real world problems. In this work, we propose an approach to solve POMDPs with multimodal belief by relying on a policy that solves the fully observable…

Decision making under uncertainty is at the heart of any autonomous system acting with imperfect information. The cost of solving the decision making problem is exponential in the action and observation spaces, thus rendering it unfeasible…

Partially observable Markov decision processes (POMDPs) are a central model for uncertainty in sequential decision making. The most basic objective is the reachability objective, where a target set must be eventually visited, and the more…

A tenet of reinforcement learning is that the agent always observes rewards. However, this is not true in many realistic settings, e.g., a human observer may not always be available to provide rewards, sensors may be limited or…

In this work, we study dynamic programming (DP) algorithms for partially observable Markov decision processes with jointly continuous and discrete state-spaces. We consider a class of stochastic systems which have coupled discrete and…

Autonomous agents often operate in scenarios where the state is partially observed. In addition to maximizing their cumulative reward, agents must execute complex tasks with rich temporal and logical structures. These tasks can be expressed…

We consider large-scale Markov decision processes (MDPs) with an unknown cost function and employ stochastic convex optimization tools to address the problem of imitation learning, which consists of learning a policy from a finite set of…

Partially Observable Markov Decision Processes (POMDPs) provide a principled mathematical framework for decision-making under uncertainty. However, the exact solution to POMDPs is computationally intractable. In this paper, we address the…

In partial multi-label learning (PML), the true labels are unobserved, which makes label disambiguation important but difficult. A key challenge is that ambiguous candidate labels can propagate errors into downstream tasks such as feature…

We consider apprenticeship learning, i.e., having an agent learn a task by observing an expert demonstrating the task in a partially observable environment when the model of the environment is uncertain. This setting is useful in…

We consider the problem of designing policies for partially observable Markov decision processes (POMDPs) with dynamic coherent risk objectives. Synthesizing risk-averse optimal policies for POMDPs requires infinite memory and thus…

Planning and learning in Partially Observable MDPs (POMDPs) are among the most challenging tasks in both the AI and Operation Research communities. Although solutions to these problems are intractable in general, there might be special…