Perseus: Randomized Point-based Value Iteration for POMDPs

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 b…

ChronosPerseus: Randomized Point-based Value Iteration with Importance Sampling for POSMDPs

In reinforcement learning, agents have successfully used environments modeled with Markov decision processes (MDPs). However, in many problem domains, an agent may suffer from noisy observations or random times until its subsequent decision. While partially observable Markov decision processes (POMDPs) have dealt with noisy observations, they have yet to deal with the unknown time aspect. Of course, one could discretize the time, but this leads to Bellman's Curse of Dimensionality. To incorporate continuous sojourn-time distributions in the agent's decision making, we propose that partially ob…

Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints

Recurrent neural networks (RNNs) have emerged as an effective representation of control policies in sequential decision-making problems. However, a major drawback in the application of RNN-based policies is the difficulty in providing formal guarantees on the satisfaction of behavioral specifications, e.g. safety and/or reachability. By integrating techniques from formal methods and machine learning, we propose an approach to automatically extract a finite-state controller (FSC) from an RNN, which, when composed with a finite-state system model, is amenable to existing formal verification tool…

当模拟欺骗时：一个仿真到现实的基准和领域随机化的强化学习配方用于工具使用智能体

When Simulation Lies: A Sim-to-Real Benchmark and Domain-Randomized RL Recipe for Tool-Use Agents

本文研究了工具使用POMDP中的仿真到现实差距，提出了一种领域随机化的强化学习方法，通过扰动增强轨迹提升鲁棒性，缩小了工具使用智能体在现实部署中的性能差距。

Strengthening Deterministic Policies for POMDPs

The synthesis problem for partially observable Markov decision processes (POMDPs) is to compute a policy that satisfies a given specification. Such policies have to take the full execution history of a POMDP into account, rendering the problem undecidable in general. A common approach is to use a limited amount of memory and randomize over potential choices. Yet, this problem is still NP-hard and often computationally intractable in practice. A restricted problem is to use neither history nor randomization, yielding policies that are called stationary and deterministic. Previous approaches to …