Increasing the Action Gap: New Operators for Reinforcement Learning

This paper introduces new optimality-preserving operators on Q-functions. We first describe an operator for tabular representations, the consistent Bellman operator, which incorporates a notion of local policy consistency. We show that this local consistency leads to an increase in the action gap at each state; increasing this gap, we argue, mitigates the undesirable effects of approximation and estimation errors on the induced greedy policies. This operator can also be applied to discretized continuous space and time problems, and we provide empirical results evidencing superior performance in this context. Extending the idea of a locally consistent operator, we then derive sufficient conditions for an operator to preserve optimality, leading to a family of operators which includes our consistent Bellman operator. As corollaries we provide a proof of optimality for Baird's advantage learning algorithm and derive other gap-increasing operators with interesting properties. We conclude with an empirical study on 60 Atari 2600 games illustrating the strong potential of these new operators

El cuento infantil como estrategia did?ctica para fortalecer los procesos socioafectivos en los estudiantes de preescolar de la instituci?n educativa el vergel, sede la Bandera, municipio de Ortega, Tolima

54 p. Recurso Electr?nicoEl cuento infantil como estrategia did?ctica para fortalecer los procesos socio afectivos en los estudiantes de preescolar de la Instituci?n Educativa el vergel, sede la bandera en Ortega, Tolima; no deja de ser un pretexto para pensar la gerencia de las instituciones educativas, no desde el ?mbito meramente administrativo, sino desde el aula y la relaci?n directa entre docentes y estudiantes. Es decir, tejer relaciones en el proceso de ense?anza y aprendizaje teniendo como foco las estrategias, las planeaciones y gestiones que pueden proyectar desde el aula otras posibilidades de concebir y dimensionar un gesto pedag?gico y did?ctico. Es por ello que la literatura infantil y espec?ficamente el cuento, obtiene una relevancia mayor, ya que, es la manera de acercarse a los ni?os y dilucidarles otros elementos para su formaci?n que puedan configurar otros lugares de relaci?n, donde los procesos de socioafectividad causen un mayor impacto y formen sujetos con caracter?sticas espec?ficas. De ese modo, la gerencia es una piedra angular que posibilidad y dialoga con esos otros lentes desde los cuales tambi?n, se ve la educaci?n. Palabras Claves: Socio-afectividad, cuento infantil, gerencia en el aula, estrategias did?cticas, literatura infantil.The children's story as a didactic strategy to strengthen the socio-affective processes in the pre-school students of the Educational Institution el vergel, the flagship in Ortega, Tolima; is no longer a pretext to think the management of educational institutions, not from the purely administrative sphere, but from the classroom and the direct relationship between teachers and students. That is, weaving relationships in the teaching and learning process focusing on strategies, planning and management that can project from the classroom other possibilities of conceiving and dimensioning a pedagogical and didactic gesture. That is why children's literature and specifically the story, is more relevant, since it is the way to approach children and elucidate other elements for their formation that can configure other places of relationship, where the processes of socio-affectivity cause a greater impact and form subjects with specific characteristics. In this way, management is a cornerstone that possibility and dialogue with those other lenses from which also, education is seen Keywords: Socio-affectivity, children's story, classroom management, didactic strategies, children's literature

La medida en que habito

31 p. Recurso Electr?nicoEl proyecto experimenta distintas etapas durante su desarrollo, van desde la exploraci?n-observaci?n, recolecci?n-selecci?n, y la construcci?n-interacci?n; mediante dichas acciones se descubre el factor clave y es la relaci?n con el espacio, una necesidad inconsciente en el cuidado y transformaci?n del mismo; habilidad que seg?n Careri solo les pertenece y es condici?n propia de los ?sedentarios?, ya que para ?l mismo autor, los n?madas carecen de tal capacidad por su condici?n de transitoriedad en los espacios. En su primera etapa denominada Exploraci?n-Observaci?n, el espacio escogido para interactuar fue la universidad, pues consideraba que era mi entorno inmediato, sin embargo, dichos espacios resultaron tan grandes que no me permitieron reconocer mi identidad dentro de ellos, por tal raz?n, el lugar objeto de intervenci?n se redujo a mi casa, mi lugar m?s ?ntimo objeto de transformaci?n constante. Igualmente, fue necesario indagar, investigar, encontrar una base te?rica que permitiera dar base, al menos conceptual y comprender la raz?n que motiv? intervenir experimentalmente mi espacio; grandes autores aparecieron Manel Margalef, Francesco Careri, Michel De Certau, Jean Baudrillard, entre otros, todos ofrecieron conceptos, algunos adopte y otros refute, principalmente el nomadismo de Careri, t?rmino que permite la construcci?n de este proyecto. Finalmente, en su tercera etapa, denominada construcci?n-interacci?n apropi? los espacios abandonados y a trav?s de elementos elaborados con base en papel desechado, intervine mediante escenas y/o im?genes propias del lugar a trav?s de grafismos o dibujo figurativo, en dicho momento alimente mi trabajo con referentes claves, Leon Ferrari, Slikanchu, quienes con sus grafismo y escritura deformada me permit?a hacer los dibujos para los lugares que interven?a.The project undergoes various stages during its development, ranging from explorationobservation, collection-selection, and construction-interaction; through these actions the key factor is discovered and the relationship with space, an unconscious need care and transformation thereof; Careri skill as theirs and only own condition of "sedentary" as for himself author, nomads lack such capacity for their condition transience in the spaces. In its first stage called Scan-Observation, the space chosen to interact was the university, considering that was my immediate environment, however, those spaces were so great that did not allow me to recognize my identity within them, for that reason, place for intervention fell to my house, my most intimate place under constant transformation. Similarly, it was necessary to investigate, investigate, find a theoretical basis that would give base, at least conceptually and understand the reason behind intervene experimentally my space; Manel Margalef great authors appeared, Francesco Careri, Michel De Certeau, Jean Baudrillard, among others, all offered concepts, some adopted and others refute mainly nomadism of Careri, a term that allows the construction of this project. Finally, in its third stage, called construction-interaction appropriated abandoned and through elements developed based on wastepaper spaces, interved by scenes and / or own images of the site through graphics or figurative drawing, at that time feed my job with key referents, Leon Ferrari, Slikanchu, who with their distorted graphics and writing allowed me to make drawings for places that intervened. Keywords: space, drawing, dwelling, nomadic, anarchitects

?Por qu? mataron a mi abuelo? Relato de una memoria fragmentada

89 P?ginasRecurso Electr?nicoEl presente proyecto rinde un homenaje a Vidal Antonio Ducuara, l?der ind?gena de la una de la comunidad de Vuelta del Rio en Ortega ?Tolima, una de las tantas v?ctimas del conflicto armado colombiano. La importancia que tiene la memoria hist?rica para los pueblos ind?genas es fundamental para la reivindicaci?n de su territorio ancestral y sus creencias. Partiendo de la pregunta ?Por qu? mataron a mi abuelo? Encontramos como a trav?s del relato ?ntimo de amigos y familiares, nos brinda la posibilidad de abordar esta investigaci?n desde la sensibilidad y los afectos que mueven al ser humano, enfrentando la desaparici?n de su origen y la perdida de la identidad. Por tal raz?n es fundamental que el relato audiovisual de cuenta de esa memoria hist?rica, permitiendo el estudio de casos como el del se?or Vidal Antonio Ducuara asesinado en 1994 por entes de violencia.ABSTRACT. This project aims to demonstrate the lack of care and compensation to the victims of violence in Colombia in the community of Vuelta del Rio in Ortega Tolima, alongside with the importance of historical memory for indigenous peoples to claim their ancestral land and their beliefs. Starting with the question, ?Why killed my Grandfather? Found as through the intimate story of family and friends, gives us the opportunity to address this research since the sensitivity and affections that move the human being, facing the loss of their origin and loss of identity. For this reason it is essential that the audiovisual narrative account of that historical memory, allowing the study of cases like Mr. Vidal Antonio Ducuara murdered in 1994 by entities of violence.INTRODUCCI?N 9 1. OBJETIVOS 12 1.1. OBJETIVO GENERAL 12 1.2. OBJETIVOS ESPEC?FICOS 12 2. METODOLOG?A 13 3. MARCO TE?RICO 20 4. ?POR QU? MATARON A MI ABUELO? 20 4.1. SIGUIENDO EL RASTRO 20 4.2. LA LEY Y SUS V?CTIMAS 22 4.3 BREVE HISTORIA Y ANTECEDENTES 24 4.4. SIN TERRITORIO, CON VIOLENCIA SIMB?LICA, Y LEYES ABSURDAS 25 4.5. EL RELATO ?NTIMO COMO PARTE DE LA CONSTRUCCI?N DE LA MEMORIA 29 5. EL CINE DOCUMENTAL CONSTRUYE OTRAS REALIDADES 32 5.1 LA MEMORIA AUDIOVISUAL Y SU APORTE A LA HISTORIA 34 5.2. EL AUDIOVISUAL COMO HERRAMIENTA EN LA CONSTRUCCI?N DEL RELATO ?NTIMO 36 5.3 LA HISTORIA CONTADA DESDE EL AUDIOVISUAL 38 5.4 LA IMPORTANCIA DEL RELATO AUDIOVISUAL 40 5.5 EL RELATO DE UNA MEMORIA FRAGMENTADA 42 5.6 DESDE LA IMAGEN. POR: DIEGO F. AVENDA?O R 43 6. INVESTIGACI?N EN EL AUDIOVISUAL 46 6.1 EL CINE EN LA INVESTIGACI?N 46 6.2 LA INVESTIGACI?N DESDE EL DIRECTOR 47 6.3 EL DOCUMENTAL DESDE OTRAS PEL?CULAS 49 6.4 FOTOGRAF?A, LOCACIONES Y PUESTA EN ESCENA 56 6.5 SONIDO EN EL MONTAJE AUDIOVISUAL 60 6.6 LOS PERSONAJES Y SU PROTAGONISTA 61 6.7 SINOPSIS DE ?POR QU? MATARON A MI ABUELO? 67 7. CONCLUSIONES 68 8. RECOMENDACIONES 69 9. REFERENCIAS 70 10. ANEXOS 7

La l?dica como estrategia fundamental para fortalecer la psicomotricidad en los ni?os y ni?as del nivel preescolar de la instituci?n educativa San Francisco

107 P?ginasTomando como base los lineamientos dados por el Programa de Licenciatura en Pedagog?a Infantil de la Universidad del Tolima, el presente documento sistematiza el desarrollo del proceso de investigaci?n formativa desarrollado en la Instituci?n Educativa San Francisco, Sede Cural La Tigrera del municipio de Ibagu?. A trav?s de un proceso de investigaci?n formativa y aplicando la metodolog?a cualitativa de corte etnogr?fico, se realiz? la caracterizaci?n de los discursos y pr?cticas pedag?gicas que circulan en la instituci?n, que reflejaron la realidad de la educaci?n impartida a los ni?os del nivel preescolar de la Instituci?n Educativa San Francisco, sede Cural la Tigrera. En este proceso se utilizaron t?cnicas e instrumentos inherentes a la investigaci?n cualitativa, como es la observaci?n (participante y no participante), entrevistas (no estructuradas), Diario de Campo, revisiones documentales (PEI, Leyes y Decretos Reglamentarios) e interacci?n con los diferentes miembros de la comunidad educativa. Mediante la ejecuci?n de este proceso se logr? reconocer la importancia de implementar la l?dica como estrategia para el fortalecimiento de la formaci?n psicomotriz en la educaci?n inicial y de la responsabilidad compartida entre familia y escuela, dirigida a favorecer el desarrollo de los ni?os menores de siete a?os. Lo anterior teniendo en cuenta que el desarrollo psicomotriz influye directamente en el fortalecimiento de todas las dimensiones del ser humano. El proyecto pretende ofrecer alternativas pedag?gicas para el desarrollo psicomotriz de los ni?os preescolares, como un trabajo conjunto entre la escuela y la familia.ABSTRACT. Based on the guidelines given by the Bachelor Programme in Infant Education at the University of Tolima The present document systematizes the development of formative research process developed at the Educational Institution San Francisco, Cural the Tigrera of Ibague headquarters. Through a process of formative research and applying qualitative ethnographic methodology, was performed characterization of the discourses and pedagogical practices that circulate in the institution that reflected the reality of the education provided to children at the preschool level of the institution educational San Francisco,Cural the Tigrera headquarters In this process were used inherent technical and instruments as is the observation (participant and non-participant), interviews(unstructured), Journal of Field, document reviews (PEI Law and Regulatory Decrees) and interaction with different members of the educational community. By executing this process was achieved to recognize the importance of implementing the ludic as a strategy for the strengthening of the psychomotor formation initial educationand shared responsibility between home and school, aimed at promoting the integraldevelopment of children under seven years. This takes into account that the psychomotor development directly influences the strengthening of all human dimensions. The project aims to provide alternatives pedagogical for psychomotor development of preschool children as a joint work between school and family.INTRODUCCI?N 12 1. PLANTEAMIENTO DEL PROBLEMA 15 1.1 DESCRIPCI?N DEL PROBLEMA 15 1.2 FORMULACI?N DEL PROBLEMA 18 2. OBJETIVOS 19 2.1 OBJETIVO GENERAL 19 2.2 OBJETIVOS ESPEC?FICOS 19 3. JUSTIFICACI?N 20 4. MARCO REFERENCIAL 22 4.1 ANTECEDENTES 22 4.2 MARCO TE?RICO 24 4.2.1 La Psicomotricidad. 25 4.2.2 La Psicomotricidad y el Aprendizaje. 26 4.2.3 Aspectos que Trabaja la Psicomotricidad. 28 4.2.3.1 El esquema corporal. 28 4.2.3.2 Actividad t?nica. 28 4.2.3.3 Equilibrio. 29 4.2.3.4 Lateralidad. 29 4.2.3.5 Estructuraci?n espacial. 29 4.2.3.6 Tiempo y ritmo. 30 4.2.3.7 Coordinaci?n. 30 4.2.3.8 Motricidad. 31 4.2.4 La Actividad L?dica. 31 4.2.5 La Formaci?n Integral. 32 4.3 MARCO CONTEXTUAL 33 4.4 MARCO LEGAL 36 4.4.1 A Nivel Internacional. 37 4.4.2 A Nivel Nacional. 38 4.4.3 A Nivel Local Institucional. 40 5. METODOLOG?A 42 5.1 ESTRUCTURA METODOL?GICA 42 5.2 DISE?O METOD?LOGICO 44 5.2.1 Descripci?n del Proceso de Investigaci?n. 44 5.2.2 T?cnicas e Instrumentos para la Recolecci?n de la Informaci?n. 45 5.3 FASES DEL PROYECTO 46 5.3.1 Descripci?n Fase I. 46 5.3.2 Descripci?n Fase II. 48 5.4 AN?LISIS DE RESULTADOS 51 5.4.1 Validez Interna. 51 5.4.2 Validez Externa. 52 5.4.3 Confiabilidad 53 5.5 EVALUACI?N Y SEGUIMIENTO 53 5.5.1 Fase 1: Caracterizaci?n de las pr?cticas que se ejercen y de los discursos que circulan sobre la educaci?n de los ni?os y ni?as menores de siete a?os 54 5.3.2 Fase 2: Los sentidos Pedag?gicos de los Proyectos de Intervenci?n 56 6. EL PROYECTO DE INTERVENCI?N 60 6.1 ESQUEMA GENERAL 61 6.2 ACTIVIDADES INTEGRADORAS DEL PPA 62 6.2.1 Actividades Integradoras para Directivos y Docentes 62 6.2.2 Actividades Integradoras para Padres de Familia 64 6.2.3 Actividades Integradoras para Ni?os 65 6.3 EXPERIENCIA PEDAGOGICA 69 7. CONCLUSIONES 72 RECOMENDACIONES 74 REFERENCIAS 7

Inference by exclusion in the Red-tailed Black Cockatoo (Calyptorhynchus banksii )

Inference by exclusion is the ability to select a given option by excluding the others. When designed appropriately, tests of this ability can reveal choices that cannot be explained by associative processes. Over the past decade, exclusion reasoning has been explored in several non-human taxonomic groups including birds, mainly in Corvids and Parrots. To increase our understanding of the taxonomic distribution of exclusion reasoning and therefore its evolution, we investigated exclusion performances in Red-tailed Black cockatoos (Calyptorhynchus banksii), an Australian relative of the Goffin cockatoo (Cacatua goffinia), using a food-finding task. Cockatoos were required to find a food item hidden in one of the two experimenter's hands. Following training sessions in which they reliably selected the closed baited hand they had just been shown open, each individual was tested on four different conditions. Critical to demonstrating exclusion reasoning was the condition in which they were shown the empty hand and then offered a choice of both closed hands. The performance of all birds was above chance on all experimental conditions but not on an olfactory and/or cuing control condition. The results suggest that the birds might be able to infer by exclusion, although an explanation based on rule learning cannot be excluded. This first experiment in Red-tailed Black cockatoo highlights this species' potential as a model to study avian cognition and paves the pathway for future investigations

Long-Term Influence of the Practice of Physical Activity on the Self-Perceived Quality of Life of Women with Breast Cancer: A Randomized Controlled Trial.

Background: There is still no consensus on the most suitable interventions for exercise practice in breast cancer survivors. Therefore, the aim of this study was to evaluate the effect of a two-year physical activity intervention (strength, aqua fitness and aerobic exercise programs) on the self-perceived quality of life and physical functionality of female breast cancer survivors. Methods: A randomized, controlled, experimental trial with a sample of 316 women (63 +/- 7 years), who had been diagnosed with breast cancer. The evaluations were performed using the Rikli & Jones Senior Fitness Test, and the Short Form 12 Health Survey (SF-12). Results: The participants in the strength program showed statistically significant improvements in all the items of the SF-12. The aqua fitness program obtained significant improvements in Physical Functioning and Limitations, Pain and Emotional Limitations, General Health, Vitality, Social Functioning and the physical and mental components of the SF-12. The participants in the aerobic program showed a progressive deterioration of Vitality and Mental Health. Conclusion: When assigning breast cancer survivors to an exercise program, the preferential or predominant activity should include strength exercises. On the other hand, as the second choice, those patients with particularly low levels of Vitality or Physical Limitations will show greater improvement with an aqua fitness program

On-line and real time cell counting and viability determination for animal cell process monitoring by in situ microscopy

International audienc

Propuesta metodol?gica para la gerencia exitosa del proyecto ?alianza productiva para el sostenimiento, producci?n y comercializaci?n de 127,5 hect?reas de cacao en el municipio de Ataco, departamento del Tolima?

186 p. Recurso Electr?nicoEl presente trabajo desarrolla una propuesta metodol?gica para la gerencia exitosa de la ejecuci?n del proyecto ?Alianza productiva para el sostenimiento, producci?n y comercializaci?n de 127,5 hect?reas de cacao en el municipio de Ataco, departamento del Tolima?; con un plazo de 225 d?as y un presupuesto aprobado de $503.226.445. En relaci?n al proyecto a ejecutar, este plantea comercializar cacao en grano con previo proceso de fermentaci?n y secado, resaltando caracter?sticas organol?pticas de textura, aroma, sabor y color propios del chocolate, adem?s de caracter?sticas fisicoqu?micas de acidez, pH, grasa y humedad de acuerdo a los par?metros establecidos por la norma NTC 1252. La presentaci?n del producto ser? en sacos de fique de 60 Kg con el logo representativo de la asociaci?n. Respecto a esto, es importante mencionar que el cultivo de cacao se encuentra previamente establecido, por ello solo se contempla el sostenimiento del mismo. Son 127,5 Hect?reas de Cacao para realizar el sostenimiento y seg?n proyecciones, se espera una producci?n de 63,75 toneladas para el a?o 1 siguiendo una tendencia creciente hasta alcanzar el tope m?ximo de rendimiento por hect?rea en el a?o 4 para un total de 191,25 toneladas. La ubicaci?n de los cultivos de Cacao est? relacionada con los productores que har?n parte de la Alianza quienes poseen unidades productivas en: Betania, Buenos Aires, Casa de Zinc, Cascarillo, la Dorada, el Aceituno, el Brillante, la Soledad, Versalles, la Ensilada, el ?guila, el C?ndor, el Salado, Agua Dulce, el Progreso, Mesa de Pole, los Mangos, el Dari?n, para un total de 18 veredas del municipio de Ataco. Es un proyecto con amplio mercado, pues seg?n estimaciones existe una brecha de mercado creciente en toneladas de cacao que para el a?o 2022 asciende a 13,452 toneladas, cuantificadas en 87,428 millones de pesos. Frente a las inversiones requeridas: La inversi?n en activos fijos representa el 34.7$127.840.000 (Principalmente maquinaria y equipo). La inversi?n en intangibles es de $375.386.445 donde actividades propias del sostenimiento del cultivo de cacao representan el 70.5Adicionalmente, es un proyecto con unos indicadores financieros atractivos: ofrece una Tasa Interna de Retorno (TIR) del 41$1.344.756.264,17 y una Relaci?n Beneficio ? Costo de $1.79. Los principales patrocinadores son: la Asociaci?n de Agricultores de Ataco ? Tolima (ASOCAT), la Gobernaci?n del Tolima y el Ministerio de Agricultura. Finalmente, como el presente trabajo se basa en la gerencia de la ejecuci?n del proyecto descrito anteriormente, se dise?aron una serie de herramientas para asegurar el ?xito en cada una de las etapas de la gerencia de proyectos: inicio, planeaci?n, ejecuci?n, control y cierre. Entre las principales actividades a gerenciar se destacan: ? Articulaci?n de los actores de la alianza ? Contrataci?n del Gerente y Equipo Nuclear ? Legalizaci?n fiducia para ejecuci?n de desembolso ? Instalaci?n oficina para gerenciar el proyecto ? Elaboraci?n y aprobaci?n plan de manejo ambiental ? Capacitaci?n buenas pr?cticas agr?colas y de pos cosecha ? Sostenimiento del cultivo de cacao ? Comercializaci?n de cacao en grano seco ? Cierre del proyecto Palabras claves: Cultivo de cacao, alianza productiva, gerencia de proyectos.The project hereby develops a methodological proposal for the successful management of the project ?Alianza Productiva para el Sostenimiento, Producci?n y Comercializaci?n de 12.5 Hect?reas de Cacao en el Municipio de Ataco, Departamento del Tolima?, with a term of 225 days and an approved budget of$503,226,445. In regards to the project, it is proposed to commercialize previously fermented and dried cocoa beans, highlighting is chocolate organoleptic characteristics of texture, smell, taste and color, as well as the physiochemical characteristics of acidity, PH, fat and humidity according to the established parameters by the NTC 1252 policy. The product will be launched in 60 kg fique bags with the logo of the association. It is important to mention that the cultivation of cocoa has been previously established, therefore only the sustenance is intended. These are 127.5 cocoa hectares to be sustained and, according to projections, a production of 63.75 tons for year 1 is expected, with a growing trend that will reach a maximum peak of 191.25 tons in year 4. The location of these crops is related to the farmers that will be part of this alliance, who have plantations in Betania, Buenos Aires, Casa de Zinc, Cascarillo, La Dorada, El Aceituno, El Brillante, La Soledad, Versalles, La Ensilada, El ?guila, El C?ndor, El Salado, Agua Dulce, El Progreso, Mesa de Pole, Los Mangos, El Dari?n, for a total of 18 regions of the municipality of Ataco. This project has a wide market. According to the estimates, there is a growing market gap in cocoa tons that will reach 13,452 by 2022, appraised in $87,428 million. The investment in fixed assets represents 34.7$127,840,000 (machinery and equipment mainly). The investment in intangible assets is of $375,386,445, in which cocoa sustenance activities represent 70.5$1,344,756,264 and a cost-benefit relation of $1.79. The main sponsors are Asociaci?n de Agricultores de Ataco ? Tolima (ASOCAT), the Government of Tolima and the Ministry of Agriculture. As the project hereby is based in its above described management and execution, there are tools designed to ensure the success of each one of the project management stages: initiation, planning, execution, control and closing. Among the main activities to manage are: - Articulation of the members of the alliance. - Recruitment of the manager and the main team. - Legalization of the trust fund for the disbursement execution. - Setting up the office for managing the project. - Development and approval of the environmental plan. - Training in good cultivation and post harvesting practices. - Sustenance of the cocoa crops. - Commercialization of dry cocoa beans. - Project closure. Keywords: Cultivation of cocoa, productive alliance, project management

Planning with Information-Processing Constraints and Model Uncertainty in Markov Decision Processes

Information-theoretic principles for learning and acting have been proposed to solve particular classes of Markov Decision Problems. Mathematically, such approaches are governed by a variational free energy principle and allow solving MDP planning problems with information-processing constraints expressed in terms of a Kullback-Leibler divergence with respect to a reference distribution. Here we consider a generalization of such MDP planners by taking model uncertainty into account. As model uncertainty can also be formalized as an information-processing constraint, we can derive a unified solution from a single generalized variational principle. We provide a generalized value iteration scheme together with a convergence proof. As limit cases, this generalized scheme includes standard value iteration with a known model, Bayesian MDP planning, and robust planning. We demonstrate the benefits of this approach in a grid world simulation.Comment: 16 pages, 3 figure