15,900 research outputs found
Anytime Point-Based Approximations for Large POMDPs
The Partially Observable Markov Decision Process has long been recognized as
a rich framework for real-world planning and control problems, especially in
robotics. However exact solutions in this framework are typically
computationally intractable for all but the smallest problems. A well-known
technique for speeding up POMDP solving involves performing value backups at
specific belief points, rather than over the entire belief simplex. The
efficiency of this approach, however, depends greatly on the selection of
points. This paper presents a set of novel techniques for selecting informative
belief points which work well in practice. The point selection procedure is
combined with point-based value backups to form an effective anytime POMDP
algorithm called Point-Based Value Iteration (PBVI). The first aim of this
paper is to introduce this algorithm and present a theoretical analysis
justifying the choice of belief selection technique. The second aim of this
paper is to provide a thorough empirical comparison between PBVI and other
state-of-the-art POMDP methods, in particular the Perseus algorithm, in an
effort to highlight their similarities and differences. Evaluation is performed
using both standard POMDP domains and realistic robotic tasks
Cutset Sampling for Bayesian Networks
The paper presents a new sampling methodology for Bayesian networks that
samples only a subset of variables and applies exact inference to the rest.
Cutset sampling is a network structure-exploiting application of the
Rao-Blackwellisation principle to sampling in Bayesian networks. It improves
convergence by exploiting memory-based inference algorithms. It can also be
viewed as an anytime approximation of the exact cutset-conditioning algorithm
developed by Pearl. Cutset sampling can be implemented efficiently when the
sampled variables constitute a loop-cutset of the Bayesian network and, more
generally, when the induced width of the networks graph conditioned on the
observed sampled variables is bounded by a constant w. We demonstrate
empirically the benefit of this scheme on a range of benchmarks
Randomized Algorithms for the Loop Cutset Problem
We show how to find a minimum weight loop cutset in a Bayesian network with
high probability. Finding such a loop cutset is the first step in the method of
conditioning for inference. Our randomized algorithm for finding a loop cutset
outputs a minimum loop cutset after O(c 6^k kn) steps with probability at least
1 - (1 - 1/(6^k))^c6^k, where c > 1 is a constant specified by the user, k is
the minimal size of a minimum weight loop cutset, and n is the number of
vertices. We also show empirically that a variant of this algorithm often finds
a loop cutset that is closer to the minimum weight loop cutset than the ones
found by the best deterministic algorithms known
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