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.

Calpains something something something AFIB

duplicate article creation. see Cantilever Beams

A Cantilever beam is a rigid structure which is extended horizontally and supported on one end.

Working with Cantilever Beams

curvature

Let’s first define a function:

\begin{equation} w(x) \end{equation}

this represents the deflection of the beam at point \(x\). We will begin by taking its derivative by location:

\begin{equation} \Delta w = \pdv{w}{x} \end{equation}

is the change in deflection over location. “How much deviation of the beam from the resting axi is there as you run along it?”