We show that the problem of finding an optimal stochastic 'blind' controller
in a Markov decision process is an NP-hard problem. The corresponding decision
problem is NP-hard, in PSPACE, and SQRT-SUM-hard, hence placing it in NP would
imply breakthroughs in long-standing open problems in computer science. Our
result establishes that the more general problem of stochastic controller
optimization in POMDPs is also NP-hard. Nonetheless, we outline a special case
that is convex and admits efficient global solutions.Comment: Corrected error in the proof of Theorem 2, and revised Section
