Autonomy Talks

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benefits and curse of POMDP

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Uncertainty

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aleatory uncertainty

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observation does not improve predictive power

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Markov Decision Process

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Curse of Dimensionality

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exponential growth if we discretize state space

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epistemic uncertainty

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observation does improve predictive power

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Reinforcement learning

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use neural networks to partially estimate outcomes at higher dimensions, somewhat side-stepping the Curse of Dimensionality

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static

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unknown properties don’t change over time

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dynamic

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unknown properties may change over time

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POMDP

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interaction uncertainty

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game theoretic

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POMDP

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partially observed Markov Decision Process

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Bayesian updating of beliefs

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like an Markov Decision Process on the belief space

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breaking the curse of POMDP

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consider integration

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estimation is integration

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has Curse of Dimensionality

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use Monte Carlo method simulation

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partially observable markov game

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POMDP with multiple agents

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pomdps.jl

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Autonomy Talks

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