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Point-based value iteration: An anytime algorithm for POMDPs (2003)
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by
Joelle Pineau
,
Geoff Gordon
,
Sebastian Thrun
| Citations: | 346 - 25 self |
BibTeX
@MISC{Pineau03point-basedvalue,
author = {Joelle Pineau and Geoff Gordon and Sebastian Thrun},
title = {Point-based value iteration: An anytime algorithm for POMDPs},
year = {2003}
}
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Abstract
This paper introduces the Point-Based Value Iteration (PBVI) algorithm for POMDP planning. PBVI approximates an exact value iteration solution by selecting a small set of representative belief points, and planning for those only. By using stochastic trajectories to choose belief points, and by maintaining only one value hyperplane per point, it is able to successfully solve large problems, including the robotic Tag domain, a POMDP version of the popular game of lasertag.
