相关论文: Compact Belief State Representation for Task Plann…

We propose a new approach to value-directed belief state approximation for POMDPs. The value-directed model allows one to choose approximation methods for belief state monitoring that have a small impact on decision quality. Using a vector…

Search is an important tool for computing effective policies in single- and multi-agent environments, and has been crucial for achieving superhuman performance in several benchmark fully and partially observable games. However, one major…

Planning robust executions under uncertainty is a fundamental challenge for building autonomous robots. Partially Observable Markov Decision Processes (POMDPs) provide a standard framework for modeling uncertainty in many applications. In…

Standard value function approaches to finding policies for Partially Observable Markov Decision Processes (POMDPs) are generally considered to be intractable for large models. The intractability of these algorithms is to a large extent a…

Human coordination often relies on the ability to influence the beliefs of others through strategic action. In multi-agent reinforcement learning, opponent shaping attempts to replicate this influence, though existing methods typically…

This paper provides an analysis of the tradeoff between asymptotic bias (suboptimality with unlimited data) and overfitting (additional suboptimality due to limited data) in the context of reinforcement learning with partial observability.…

Planning under process and measurement uncertainties is a challenging problem. In its most general form it can be modeled as a Partially Observed Markov Decision Process (POMDP) problem. However POMDPs are generally difficult to solve when…

Markov decisions processes (MDPs) are becoming increasing popular as models of decision theoretic planning. While traditional dynamic programming methods perform well for problems with small state spaces, structured methods are needed for…

We consider the problem of imitation learning from expert demonstrations in partially observable Markov decision processes (POMDPs). Belief representations, which characterize the distribution over the latent states in a POMDP, have been…

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…

Autonomous agents operating in adversarial scenarios face a fundamental challenge: while they may know their adversaries' high-level objectives, such as reaching specific destinations within time constraints, the exact policies these…

In most contemporary approaches to decision making, a decision problem is described by a sets of states and set of outcomes, and a rich set of acts, which are functions from states to outcomes over which the decision maker (DM) has…

The problem of belief tracking in the presence of stochastic actions and observations is pervasive and yet computationally intractable. In this work we show however that probabilistic beliefs can be maintained in factored form exactly and…

This paper shows how we can combine logical representations of actions and decision theory in such a manner that seems natural for both. In particular we assume an axiomatization of the domain in terms of situation calculus, using what is…

In automated driving, predicting and accommodating the uncertain future motion of other traffic participants is challenging, especially in unstructured environments in which the high-level intention of traffic participants is difficult to…

The standard problem setting in Dec-POMDPs is self-play, where the goal is to find a set of policies that play optimally together. Policies learned through self-play may adopt arbitrary conventions and implicitly rely on multi-step…

The presence of uncertainty in policy evaluation significantly complicates the process of policy ranking and selection in real-world settings. We formally consider offline policy selection as learning preferences over a set of policy…

Conformal prediction gives exact finite-sample coverage guarantees under exchangeability, but deployed systems are judged by more than coverage alone. For a fixed calibrated rule reused over a finite operational window, stakeholders also…

The sum-product or belief propagation (BP) algorithm is a widely-used message-passing algorithm for computing marginal distributions in graphical models with discrete variables. At the core of the BP message updates, when applied to a…

Planning under uncertainty is a key requirement for physical systems due to the noisy nature of actuators and sensors. Using a belief space approach, planning solutions tend to generate actions that result in information seeking behavior…