{"id":"https://openalex.org/W2914308742","doi":"https://doi.org/10.1109/lra.2019.2898045","title":"Point-Based Policy Synthesis for POMDPs With Boolean and Quantitative Objectives","display_name":"Point-Based Policy Synthesis for POMDPs With Boolean and Quantitative Objectives","publication_year":2019,"publication_date":"2019-02-07","ids":{"openalex":"https://openalex.org/W2914308742","doi":"https://doi.org/10.1109/lra.2019.2898045","mag":"2914308742"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2898045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2898045","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040315152","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-9416-1336"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-9416-1336","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057341982","display_name":"Swarat Chaudhuri","orcid":"https://orcid.org/0000-0002-6859-1391"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swarat Chaudhuri","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-0699-8038","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.3185,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6793319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"2","first_page":"1860","last_page":"1867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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":0.9958999752998352,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9937999844551086,"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/correctness","display_name":"Correctness","score":0.8247202634811401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7430205345153809},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6740396022796631},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5702458024024963},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5325798988342285},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4642636775970459},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.46154314279556274},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44005823135375977},{"id":"https://openalex.org/keywords/and-inverter-graph","display_name":"And-inverter graph","score":0.43787702918052673},{"id":"https://openalex.org/keywords/boolean-function","display_name":"Boolean function","score":0.3169441819190979},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.2467242181301117},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.23526930809020996},{"id":"https://openalex.org/keywords/boolean-circuit","display_name":"Boolean circuit","score":0.227910578250885},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20342105627059937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18678811192512512},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13424423336982727},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.09988266229629517}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.8247202634811401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7430205345153809},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6740396022796631},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5702458024024963},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5325798988342285},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4642636775970459},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.46154314279556274},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44005823135375977},{"id":"https://openalex.org/C196836630","wikidata":"https://www.wikidata.org/wiki/Q4753279","display_name":"And-inverter graph","level":4,"score":0.43787702918052673},{"id":"https://openalex.org/C187455244","wikidata":"https://www.wikidata.org/wiki/Q942353","display_name":"Boolean function","level":2,"score":0.3169441819190979},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.2467242181301117},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.23526930809020996},{"id":"https://openalex.org/C141796577","wikidata":"https://www.wikidata.org/wiki/Q837479","display_name":"Boolean circuit","level":3,"score":0.227910578250885},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20342105627059937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18678811192512512},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13424423336982727},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.09988266229629517},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2898045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2898045","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.rice.edu:1911/106244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2019.2898045.","pdf_url":null,"source":{"id":"https://openalex.org/S4306401268","display_name":"Rice Digital Scholarship Archive (Rice University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74775410","host_organization_name":"Rice University","host_organization_lineage":["https://openalex.org/I74775410"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W177913229","https://openalex.org/W288011047","https://openalex.org/W1480909796","https://openalex.org/W1482467703","https://openalex.org/W1494689917","https://openalex.org/W1503109067","https://openalex.org/W1522308973","https://openalex.org/W1528120147","https://openalex.org/W1532688806","https://openalex.org/W1558657492","https://openalex.org/W1565394148","https://openalex.org/W1580254899","https://openalex.org/W1583869287","https://openalex.org/W1977070092","https://openalex.org/W1981691276","https://openalex.org/W1996295354","https://openalex.org/W2032100464","https://openalex.org/W2034725503","https://openalex.org/W2099430963","https://openalex.org/W2110790702","https://openalex.org/W2115826669","https://openalex.org/W2119852681","https://openalex.org/W2144088174","https://openalex.org/W2168359464","https://openalex.org/W2207352740","https://openalex.org/W2219400200","https://openalex.org/W2274143274","https://openalex.org/W2546924332","https://openalex.org/W2572445540","https://openalex.org/W2787504747","https://openalex.org/W2808915486","https://openalex.org/W2962801399","https://openalex.org/W2963452430","https://openalex.org/W2963559826","https://openalex.org/W3023702893","https://openalex.org/W3030144456","https://openalex.org/W4213269876","https://openalex.org/W6600089385","https://openalex.org/W6629836980","https://openalex.org/W6629917913","https://openalex.org/W6631690158","https://openalex.org/W6631864160","https://openalex.org/W6633791246","https://openalex.org/W6634758100","https://openalex.org/W6678181239","https://openalex.org/W6681718981","https://openalex.org/W6688837684","https://openalex.org/W6694701973","https://openalex.org/W6729166891","https://openalex.org/W6731636634","https://openalex.org/W6748305584","https://openalex.org/W6777231846"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W3208638985"],"abstract_inverted_index":{"Effectively":[0],"planning":[1],"robust":[2],"executions":[3],"under":[4,27],"uncertainty":[5],"is":[6,144],"critical":[7],"for":[8,22,40,51,79,93],"building":[9],"autonomous":[10],"robots.":[11],"Partially":[12],"observable":[13],"Markov":[14],"decision":[15],"processes":[16],"(POMDPs)":[17],"provide":[18],"a":[19,41,74,113],"standard":[20],"framework":[21],"modeling":[23],"many":[24],"robot":[25],"applications":[26],"uncertainty.":[28],"We":[29,72,146],"study":[30],"POMDPs":[31,63,80,94],"with":[32,64,81,95],"two":[33],"kinds":[34],"of":[35,44,116],"objectives:":[36],"(1)":[37],"Boolean":[38,65,82,97,127],"objectives":[39,50,68,85],"correctness":[42,60],"guarantee":[43,165],"accomplishing":[45],"tasks":[46],"and":[47,61,66,83,90,129],"(2)":[48],"quantitative":[49,67,84],"optimal":[52],"behaviors.":[53],"For":[54],"robotic":[55,152],"domains":[56],"that":[57,157,164],"require":[58],"both":[59],"optimality,":[62],"are":[69],"natural":[70],"formulations.":[71],"present":[73],"practical":[75],"policy":[76,88,91],"synthesis":[77,92],"approach":[78,103,123,149,159],"by":[86,107],"combining":[87],"iteration":[89,135],"only":[96],"objectives.":[98],"To":[99],"improve":[100],"efficiency,":[101],"our":[102,122,148,158],"produces":[104,160],"approximate":[105,162],"policies":[106,132,163],"performing":[108],"the":[109,139],"point-based":[110],"backup":[111],"on":[112],"small":[114],"set":[115],"representative":[117],"beliefs.":[118],"Despite":[119],"being":[120],"approximate,":[121],"maintains":[124],"validity":[125],"(satisfying":[126],"objectives)":[128],"guarantees":[130],"improved":[131],"at":[133],"each":[134],"before":[136],"termination.":[137],"Moreover,":[138],"error":[140],"due":[141],"to":[142],"approximation":[143],"bounded.":[145],"evaluate":[147],"in":[150],"several":[151],"domains.":[153],"The":[154],"results":[155],"show":[156],"good":[161],"task":[166],"completion.":[167]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}