{"id":1051,"date":"2019-03-06T16:36:22","date_gmt":"2019-03-06T15:36:22","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1051"},"modified":"2019-03-06T16:36:22","modified_gmt":"2019-03-06T15:36:22","slug":"improving-on-line-monte-carlo-pomdp-destop-in-particular-in-discrete-spaces-through-the-use-of-importance-sampling-and-a-nice-summary-of-the-problem-and-of-current-on-line-pomdp-approaches","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1051","title":{"rendered":"Improving on-line Monte Carlo POMDP (DESTOP in particular) in discrete spaces through the use of importance sampling, and a nice summary of the problem and of current on-line POMDP approaches"},"content":{"rendered":"<h4>Luo, Y., Bai, H., Hsu, D., &#038; Lee, W. S., <strong>Importance sampling for online planning under uncertainty<\/strong>, The International Journal of Robotics Research, 38(2\u20133), 162\u2013181, 2019 <a href=\"https:\/\/doi.org\/10.1177\/0278364918780322\" target=\"_blank\">DOI: 10.1177\/0278364918780322<\/a>.<\/h4>\n<blockquote><p>The partially observable Markov decision process (POMDP) provides a principled general framework for robot planning under uncertainty. Leveraging the idea of Monte Carlo sampling, recent POMDP planning algorithms have scaled up to various challenging robotic tasks, including, real-time online planning for autonomous vehicles. To further improve online planning performance, this paper presents IS-DESPOT, which introduces importance sampling to DESPOT, a state-of-the-art sampling-based POMDP algorithm for planning under uncertainty. Importance sampling improves DESPOT\u2019s performance when there are critical, but rare events, which are difficult to sample. We prove that IS-DESPOT retains the theoretical guarantee of DESPOT. We demonstrate empirically that importance sampling significantly improves the performance of online POMDP planning for suitable tasks. We also present a general method for learning the importance sampling distribution.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Luo, Y., Bai, H., Hsu, D., &#038; Lee, W. S., Importance sampling for online planning under uncertainty, The International Journal <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1051\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23],"tags":[248,402,401,116],"class_list":["post-1051","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning","tag-autonomous-vehicles","tag-monte-carlo-pomdps","tag-on-line-pomdps","tag-pomdps"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1051"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1051"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1051\/revisions"}],"predecessor-version":[{"id":1052,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1051\/revisions\/1052"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1051"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1051"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1051"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}