Closing the Gap: Improved Bounds on Optimal POMDP Solutions

Published on 2011-07-213476 Views

Pascal Poupart

POMDP algorithms have made significant progress in recent years by allowing practitioners to find good solutions to increasingly large problems. Most approaches (including point-based and policy it

ICAPS 2011 - Freiburg

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Planning and Scheduling

Presentation

Closing the Gap: Improved Bounds on Optimal POMDP solutions00:00

Outline00:00

POMDP deployment00:29

Motivation02:18

Contributions03:08

POMDP Graphical Representation03:50

Optimal value function04:07

Bounds04:32

Lower Bound05:16

Upper Bound (1)05:52

Upper Bound (2)06:28

Belief search07:05

Generic Bounding Algorithm08:50

Comparison09:23

GapMin belief search11:16

UB update12:14

Caching12:46

Experiments (1)14:39

Experiments (2)15:53

Experiments (3)17:42

Experiments (4)18:13

Conclusion18:42