(Pineau, Gordon, and Thrun 2006)
One-Liner
“If we can avoid the curse of history, the curse of dimensionality wouldn’t be a problem”.
Basically - most POMDP problems don’t reach much of the belief simplex. So, can we concetrate planning on more probable beliefs.
Novelty
- trajectory based approach to select beliefs
- belief set is fixed through layers: each backup results in the same number of layers