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

Partially observable Markov decision processes (POMDPs) have been widely used in many robotic applications for sequential decision-making under uncertainty. POMDP online planning algorithms such as Partially Observable Monte-Carlo Planning…

Monotonic Partially Observable Markov Decision Processes (POMDPs), where the system state progressively decreases until a restorative action is performed, can be used to model sequential repair problems effectively. This paper considers the…

In centralized multi-agent systems, often modeled as multi-agent partially observable Markov decision processes (MPOMDPs), the action and observation spaces grow exponentially with the number of agents, making the value and belief…

Partially Observable Markov Decision Processes (POMDPs) are a natural and general model in reinforcement learning that take into account the agent's uncertainty about its current state. In the literature on POMDPs, it is customary to assume…

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,…

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…

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…

Planning under uncertainty is critical to robotics. The Partially Observable Markov Decision Process (POMDP) is a mathematical framework for such planning problems. It is powerful due to its careful quantification of the non-deterministic…

Constrained Markov Decision Process (CMDP) is a natural framework for reinforcement learning tasks with safety constraints, where agents learn a policy that maximizes the long-term reward while satisfying the constraints on the long-term…

Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision processes (POMDPs) serve as a general framework for…

Robots operating in complex and unknown environments frequently require geometric-semantic representations of the environment to safely perform their tasks. While inferring the environment, they must account for many possible scenarios when…

Constrained decision-making is essential for designing safe policies in real-world control systems, yet simulated environments often fail to capture real-world adversities. We consider the problem of learning a policy that will maximize the…

This paper proposes Partially Observable Reference Policy Programming, a novel anytime online approximate POMDP solver which samples meaningful future histories very deeply while simultaneously forcing a gradual policy update. We provide…

In many practical applications, decision-making processes must balance the costs of acquiring information with the benefits it provides. Traditional control systems often assume full observability, an unrealistic assumption when…

In this paper, we present algorithms that perform gradient ascent of the average reward in a partially observable Markov decision process (POMDP). These algorithms are based on GPOMDP, an algorithm introduced in a companion paper (Baxter…

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…

We study policy optimization in an infinite horizon, $\gamma$-discounted constrained Markov decision process (CMDP). Our objective is to return a policy that achieves large expected reward with a small constraint violation. We consider the…

Active classification, i.e., the sequential decision-making process aimed at data acquisition for classification purposes, arises naturally in many applications, including medical diagnosis, intrusion detection, and object tracking. In this…

Many sequential decision problems involve optimizing one objective function while imposing constraints on other objectives. Constrained Partially Observable Markov Decision Processes (C-POMDP) model this case with transition uncertainty and…

Many processes, such as discrete event systems in engineering or population dynamics in biology, evolve in discrete space and continuous time. We consider the problem of optimal decision making in such discrete state and action space…