Nicholas Roy, Geoffrey J. Gordon
Department of Computer Science
Carnegie Mellon University
Pittsburgh, PA 15213 email@example.com
Standard value function approaches to ﬁnding policies for Partially Observable Markov Decision Processes (POMDPs) are intractable for large models. The in- tractability of these algorithms is due to a great extent to their generating an optimal policy over the entire belief space. However, in real POMDP problems most belief states are unlikely, and there is a structured, low-dimensional manifold of plausible beliefs embedded in the high-dimensional belief space. We introduce a new method for solving large-scale POMDPs by taking advantage of belief space sparsity. We reduce the dimensionality of the belief space by exponential family Principal Components Analysis , which allows us to turn the sparse, high- dimensional belief space into a compact, low-dimensional representation in terms of learned features of the belief state. We then plan directly on the low-dimensional belief features. By planning in a low-dimensional space, we can ﬁnd policies for POMDPs that are orders of magnitude larger than can be handled by conventional techniques. We demonstrate the use of this algorithm on a synthetic problem and also on a mobile robot navigation task.