Optimal Continuous State POMDP Planning With Semantic Observations: A Variational Approach
arXiv: Artificial Intelligence, Volume 35, Issue 6, 2019, Pages 1488-1507.
This work develops novel strategies for optimal planning with semantic observations using continuous state Partially Observable Markov Decision Processes (CPOMDPs). Two major innovations are presented in relation to Gaussian mixture (GM) CPOMDP policy approximation methods. While existing methods have many theoretically nice properties, t...More
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