{"id":"https://openalex.org/W3080332657","doi":"https://doi.org/10.1109/case48305.2020.9216994","title":"Compact Belief State Representation for Task Planning","display_name":"Compact Belief State Representation for Task Planning","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3080332657","doi":"https://doi.org/10.1109/case48305.2020.9216994","mag":"3080332657"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.10386","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058075885","display_name":"Evgenii Safronov","orcid":"https://orcid.org/0000-0002-8003-1231"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Evgenii Safronov","raw_affiliation_strings":["Department of Informatics, Bioengineering, Robotics and Systems Engineering, Universit\u00e0 di Genova, Genova, Italy","Istituto Italiano di Tecnologia, Genoa, Italy","[Istituto Italiano di Tecnologia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, Universit\u00e0 di Genova, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Istituto Italiano di Tecnologia]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047750218","display_name":"Michele Colledanchise","orcid":"https://orcid.org/0000-0003-0289-7424"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Colledanchise","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy","[Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy","[Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"747","last_page":"754"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6644903421401978},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6278890371322632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6035601496696472},{"id":"https://openalex.org/keywords/cartesian-product","display_name":"Cartesian product","score":0.5715545415878296},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5373159646987915},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5221955180168152},{"id":"https://openalex.org/keywords/binary-decision-diagram","display_name":"Binary decision diagram","score":0.5220479965209961},{"id":"https://openalex.org/keywords/directed-acyclic-graph","display_name":"Directed acyclic graph","score":0.5085500478744507},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4630574882030487},{"id":"https://openalex.org/keywords/belief-structure","display_name":"Belief structure","score":0.4546431303024292},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4239060878753662},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.39688169956207275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3348897695541382},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2751116454601288},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2457464337348938},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.11364978551864624},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07818496227264404}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6644903421401978},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6278890371322632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6035601496696472},{"id":"https://openalex.org/C65236422","wikidata":"https://www.wikidata.org/wiki/Q173740","display_name":"Cartesian product","level":2,"score":0.5715545415878296},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5373159646987915},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5221955180168152},{"id":"https://openalex.org/C3309909","wikidata":"https://www.wikidata.org/wiki/Q864155","display_name":"Binary decision diagram","level":2,"score":0.5220479965209961},{"id":"https://openalex.org/C74197172","wikidata":"https://www.wikidata.org/wiki/Q1195339","display_name":"Directed acyclic graph","level":2,"score":0.5085500478744507},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4630574882030487},{"id":"https://openalex.org/C44973800","wikidata":"https://www.wikidata.org/wiki/Q4882755","display_name":"Belief structure","level":2,"score":0.4546431303024292},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4239060878753662},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.39688169956207275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3348897695541382},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2751116454601288},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2457464337348938},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.11364978551864624},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07818496227264404},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/case48305.2020.9216994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.10386","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.10386","pdf_url":"https://arxiv.org/pdf/2008.10386","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3080332657","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2008.10386.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2008.10386","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.10386","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.10386","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.10386","pdf_url":"https://arxiv.org/pdf/2008.10386","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3080332657.pdf","grobid_xml":"https://content.openalex.org/works/W3080332657.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W241117969","https://openalex.org/W1551698655","https://openalex.org/W1994143452","https://openalex.org/W2070683816","https://openalex.org/W2080267935","https://openalex.org/W2107037376","https://openalex.org/W2137108108","https://openalex.org/W2150803754","https://openalex.org/W2534147422","https://openalex.org/W2811217026","https://openalex.org/W2977150548","https://openalex.org/W3007298809","https://openalex.org/W3098821697","https://openalex.org/W3131597899","https://openalex.org/W6633027604"],"related_works":["https://openalex.org/W3092265209","https://openalex.org/W2139996323","https://openalex.org/W2146398222","https://openalex.org/W977458031","https://openalex.org/W2154727088","https://openalex.org/W2951425888","https://openalex.org/W2545901304","https://openalex.org/W186189868","https://openalex.org/W2116753650","https://openalex.org/W2113927879","https://openalex.org/W2985508951","https://openalex.org/W3156635476","https://openalex.org/W1556467816","https://openalex.org/W2971080642","https://openalex.org/W2995294679","https://openalex.org/W3207946785","https://openalex.org/W3170193556","https://openalex.org/W1790295154","https://openalex.org/W37272079","https://openalex.org/W2965474974"],"abstract_inverted_index":{"Task":[0],"planning":[1],"in":[2,13,114],"a":[3,22,55,150],"probabilistic":[4,95],"belief":[5,28,57,69,108,140,152],"space":[6,29,58,118],"generates":[7],"complex":[8],"and":[9,45,65,74,97,154],"robust":[10],"execution":[11,46],"policies":[12],"domains":[14],"affected":[15],"by":[16],"state":[17,117,153],"uncertainty.":[18],"The":[19],"performance":[20,113],"of":[21,31,43,84,103,124,129,162],"task":[23],"planner":[24],"relies":[25],"on":[26,61],"the":[27,32,41,62,101,122,127,163],"representation":[30,36,59,146],"world.":[33],"However,":[34],"such":[35],"becomes":[37],"easily":[38],"intractable":[39],"as":[40],"number":[42],"variables":[44],"time":[47],"grow.":[48],"To":[49],"address":[50],"this":[51],"problem,":[52],"we":[53],"developed":[54],"novel":[56],"based":[60],"Cartesian":[63],"product":[64],"union":[66],"operations":[67,73],"over":[68,107],"substates.":[70],"These":[71],"two":[72],"single":[75],"variable":[76],"assignment":[77],"nodes":[78],"form":[79],"And-Or":[80],"directed":[81],"acyclic":[82],"graph":[83],"Belief":[85],"States":[86],"(AOBSs).":[87],"We":[88,110,120,142],"show":[89,143],"how":[90,98],"to":[91,99,138],"apply":[92],"actions":[93],"with":[94,126],"outcomes":[96],"measure":[100],"probability":[102],"conditions":[104],"holding":[105],"true":[106],"states.":[109],"evaluated":[111],"AOBSs":[112,125,145],"simulated":[115],"forward":[116],"exploration.":[119],"compared":[121],"size":[123,128],"Binary":[130],"Decision":[131],"Diagrams":[132],"(BDDs)":[133],"that":[134,144],"were":[135],"previously":[136],"used":[137],"represent":[139],"state.":[141],"more":[147],"compact":[148],"than":[149,158],"full":[151],"it":[155],"scales":[156],"better":[157],"BDDs":[159],"for":[160],"most":[161],"cases.":[164]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
