相关论文: Online Planning in POMDPs with State-Requests

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…

Adaptive Informative Path Planning (AIPP) problems model an agent tasked with obtaining information subject to resource constraints in unknown, partially observable environments. Existing work on AIPP has focused on representing…

Rather than augmenting rewards with penalties for undesired behavior, Constrained Partially Observable Markov Decision Processes (CPOMDPs) plan safely by imposing inviolable hard constraint value budgets. Previous work performing online…

In most real-world reinforcement learning applications, state information is only partially observable, which breaks the Markov decision process assumption and leads to inferior performance for algorithms that conflate observations with…

We consider partially observable Markov decision processes (POMDPs) modeling an agent that needs a supply of a certain resource (e.g., electricity stored in batteries) to operate correctly. The resource is consumed by agent's actions and…

We introduce ARES, an efficient approximation algorithm for generating optimal plans (action sequences) that take an initial state of a Markov Decision Process (MDP) to a state whose cost is below a specified (convergence) threshold. ARES…

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…

Partially-Observable Markov Decision Processes (POMDPs) are a well-known stochastic model for sequential decision making under limited information. We consider the EXPTIME-hard problem of synthesising policies that almost-surely reach some…

In this paper we study online Reinforcement Learning (RL) in partially observable dynamical systems. We focus on the Predictive State Representations (PSRs) model, which is an expressive model that captures other well-known models such as…

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…

Large-scale Markov decision processes (MDPs) require planning algorithms with runtime independent of the number of states of the MDP. We consider the planning problem in MDPs using linear value function approximation with only weak…

Planning in real-world settings often entails addressing partial observability while aligning with users' requirements. We present a novel framework for expressing users' constraints and preferences about agent behavior in a partially…

Partially observable Markov decision processes (POMDPs) are a general framework for sequential decision-making under latent state uncertainty, yet learning in POMDPs is intractable in the worst case. Motivated by sensing and probing…

How can we plan efficiently in a large and complex environment when the time budget is limited? Given the original simulator of the environment, which may be computationally very demanding, we propose to learn online an approximate but much…

We consider online planning in Markov decision processes (MDPs). In online planning, the agent focuses on its current state only, deliberates about the set of possible policies from that state onwards and, when interrupted, uses the outcome…

State-of-the-art approaches to partially observable planning like POMCP are based on stochastic tree search. While these approaches are computationally efficient, they may still construct search trees of considerable size, which could limit…

There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements…

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…

Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across planning queries. This information may be computed before or…

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…