2023
DOI: 10.48550/arxiv.2302.01491
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DiSProD: Differentiable Symbolic Propagation of Distributions for Planning

Abstract: The paper introduces DiSProD, an online planner developed for environments with probabilistic transitions in continuous state and action spaces. DiSProD builds a symbolic graph that captures the distribution of future trajectories, conditioned on a given policy, using independence assumptions and approximate propagation of distributions.The symbolic graph provides a differentiable representation of the policy's value, enabling efficient gradient-based optimization for long-horizon search. The propagation of ap… Show more

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