**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.