2019
DOI: 10.1609/icaps.v29i1.3538
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POMDP-Based Candy Server:Lessons Learned from a Seven Day Demo

Abstract: An autonomous robot must decide a good strategy to achieve its long term goal, despite various types of uncertainty. The Partially Observable Markov Decision Processes (POMDPs) is a principled framework to address such a decision making problem. Despite the computational intractability of solving POMDPs, the past decade has seen substantial advancement in POMDP solvers. This paper presents our experience in enabling on-line POMDP solving to become the sole motion planner for a robot manipulation demo at IEEE S… Show more

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Cited by 6 publications
(1 citation statement)
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“…Although solving a POMDP exactly is computationally intractable (Papadimitriou and Tsitsiklis, 1987), the past two decades have seen tremendous progress in developing approximately optimal solvers that trade optimality for computational tractability, enabling POMDPs to start to become practical for various robotic planning problems (Bai and Hsu, 2012; Horowitz and Burdick, 2013; Hsiao et al, 2007; Wandzel et al, 2019; Hoerger et al, 2019b).…”
Section: Introductionmentioning
confidence: 99%
“…Although solving a POMDP exactly is computationally intractable (Papadimitriou and Tsitsiklis, 1987), the past two decades have seen tremendous progress in developing approximately optimal solvers that trade optimality for computational tractability, enabling POMDPs to start to become practical for various robotic planning problems (Bai and Hsu, 2012; Horowitz and Burdick, 2013; Hsiao et al, 2007; Wandzel et al, 2019; Hoerger et al, 2019b).…”
Section: Introductionmentioning
confidence: 99%