相关论文: Online Planning for Constrained POMDPs with Contin…

Partially Observable Markov Decision Processes (POMDPs) provide a rich framework for sequential decision-making under uncertainty in stochastic domains. However, solving a POMDP is often intractable except for small problems due to their…

Lagrangian-guided Monte Carlo tree search with global dual ascent has been applied to solve large constrained partially observable Markov decision processes (CPOMDPs) online. In this work, we demonstrate that these global dual parameters…

Online solvers for partially observable Markov decision processes have been applied to problems with large discrete state spaces, but continuous state, action, and observation spaces remain a challenge. This paper begins by investigating…

We study online learning in episodic constrained Markov decision processes (CMDPs), where the learner aims at collecting as much reward as possible over the episodes, while satisfying some long-term constraints during the learning process.…

Solving partially observable Markov decision processes (POMDPs) with high dimensional and continuous observations, such as camera images, is required for many real life robotics and planning problems. Recent researches suggested machine…

Online planning under uncertainty in partially observable domains is an essential capability in robotics and AI. The partially observable Markov decision process (POMDP) is a mathematically principled framework for addressing…

Partially observable Markov decision processes (POMDPs) provide an elegant mathematical framework for modeling complex decision and planning problems in stochastic domains in which states of the system are observable only indirectly, via a…

Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fall short of preventing safety violations in dynamic…

Partially Observable Markov Decision Processes (POMDPs) provide a robust framework for decision-making under uncertainty in applications such as autonomous driving and robotic exploration. Their extension, $\rho$POMDPs, introduces…

In this paper, we propose a policy gradient method for confounded partially observable Markov decision processes (POMDPs) with continuous state and observation spaces in the offline setting. We first establish a novel identification result…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…

Optimal plans in Constrained Partially Observable Markov Decision Processes (CPOMDPs) maximize reward objectives while satisfying hard cost constraints, generalizing safe planning under state and transition uncertainty. Unfortunately,…

Partially observable Markov decision processes (POMDP) are a useful model for decision-making under partial observability and stochastic actions. Partially Observable Monte-Carlo Planning is an online algorithm for deciding on the next…

Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state. A major challenge for making accurate and robust action…

Partially observable Markov decision processes (POMDPs) with continuous state and observation spaces have powerful flexibility for representing real-world decision and control problems but are notoriously difficult to solve. Recent online…

Planning under partial obervability is essential for autonomous robots. A principled way to address such planning problems is the Partially Observable Markov Decision Process (POMDP). Although solving POMDPs is computationally intractable,…

Partially observable Markov Decision Processes (POMDPs) are a standard model for agents making decisions in uncertain environments. Most work on POMDPs focuses on synthesizing strategies based on the available capabilities. However, system…

To plan safely in uncertain environments, agents must balance utility with safety constraints. Safe planning problems can be modeled as a chance-constrained partially observable Markov decision process (CC-POMDP) and solutions often use…

Online solvers for partially observable Markov decision processes have difficulty scaling to problems with large action spaces. This paper proposes a method called PA-POMCPOW to sample a subset of the action space that provides varying…