Houjun Liu


Contraindicated offline POMDP solver.

  • Contrained belief state MDP
  • Linear Programming
  • belief set generation
  • Approximate POMDP with Contrainst

CPOMDPs are Hard

  • Can’t do DP with pruning: optimal policies may be stochastic
  • Minimax quadratically contained program: computational intractable
  • Contained PBVI struggles with contraint satisfaction

CALP Core Idea

Recast CPOMDP as a contrained belief-state MDP.

We replace our state-space with our belief space:

  • \(S = B\)
  • \(s_0 = b_0\)

You essentially assume here that there is some finite belief space.