Sciweavers

Share
JAIR
2006

Anytime Point-Based Approximations for Large POMDPs

10 years 4 months ago
Anytime Point-Based Approximations for Large POMDPs
The Partially Observable Markov Decision Process has long been recognized as a rich framework for real-world planning and control problems, especially in robotics. However exact solutions in this framework are typically computationally intractable for all but the smallest problems. A well-known technique for speeding up POMDP solving involves performing value backups at specific belief points, rather than over the entire belief simplex. The efficiency of this approach, however, depends greatly on the selection of points. This paper presents a set of novel techniques for selecting informative belief points which work well in practice. The point selection procedure is combined with point-based value backups to form an effective anytime POMDP algorithm called Point-Based Value Iteration (PBVI). The first aim of this paper is to introduce this algorithm and present a theoretical analysis justifying the choice of belief selection technique. The second aim of this paper is to provide a thor...
Joelle Pineau, Geoffrey J. Gordon, Sebastian Thrun
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where JAIR
Authors Joelle Pineau, Geoffrey J. Gordon, Sebastian Thrun
Comments (0)
books