{"id":"https://openalex.org/W2883326097","doi":"https://doi.org/10.1109/tro.2019.2933720","title":"Optimal Continuous State POMDP Planning With Semantic Observations: A Variational Approach","display_name":"Optimal Continuous State POMDP Planning With Semantic Observations: A Variational Approach","publication_year":2019,"publication_date":"2019-08-27","ids":{"openalex":"https://openalex.org/W2883326097","doi":"https://doi.org/10.1109/tro.2019.2933720","mag":"2883326097"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2933720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2933720","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1807.08229","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049039166","display_name":"Luke Burks","orcid":"https://orcid.org/0000-0003-4383-9044"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luke Burks","raw_affiliation_strings":["Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA"],"raw_orcid":"https://orcid.org/0000-0003-4383-9044","affiliations":[{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056378325","display_name":"Ian Loefgren","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Loefgren","raw_affiliation_strings":["Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100664008","display_name":"Nisar Ahmed","orcid":"https://orcid.org/0000-0002-7555-5671"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nisar R. Ahmed","raw_affiliation_strings":["Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA"],"raw_orcid":"https://orcid.org/0000-0002-7555-5671","affiliations":[{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department University of Colorado Boulder Boulder CO USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049039166"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.1445,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54776665,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"35","issue":"6","first_page":"1488","last_page":"1507"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9977999925613403,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9977999925613403,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9966999888420105,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9951000213623047,"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/softmax-function","display_name":"Softmax function","score":0.7404165267944336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6802279949188232},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.5521569848060608},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5387246608734131},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5060703158378601},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4906812906265259},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.46178632974624634},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4153309166431427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27381631731987},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.25940418243408203},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.24423569440841675},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23096314072608948},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.22763916850090027},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21765384078025818},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.12445765733718872}],"concepts":[{"id":"https://openalex.org/C188441871","wikidata":"https://www.wikidata.org/wiki/Q7554146","display_name":"Softmax function","level":3,"score":0.7404165267944336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6802279949188232},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.5521569848060608},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5387246608734131},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5060703158378601},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4906812906265259},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.46178632974624634},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4153309166431427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27381631731987},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.25940418243408203},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.24423569440841675},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23096314072608948},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.22763916850090027},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21765384078025818},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.12445765733718872},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2019.2933720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2933720","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1807.08229","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1807.08229","pdf_url":"https://arxiv.org/pdf/1807.08229","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2883326097","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1807.08229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.1807.08229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1807.08229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1807.08229","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1807.08229","pdf_url":"https://arxiv.org/pdf/1807.08229","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G3154283169","display_name":null,"funder_award_id":"CNS-1650468","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320333620","display_name":"Center for Unmanned Aircraft Systems","ror":null},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W80905443","https://openalex.org/W123090642","https://openalex.org/W1042112029","https://openalex.org/W1532688806","https://openalex.org/W1539216098","https://openalex.org/W1714211023","https://openalex.org/W1883438135","https://openalex.org/W1998768278","https://openalex.org/W1999244880","https://openalex.org/W2002201291","https://openalex.org/W2004735830","https://openalex.org/W2014158652","https://openalex.org/W2015153742","https://openalex.org/W2016130656","https://openalex.org/W2017834396","https://openalex.org/W2025217226","https://openalex.org/W2027055844","https://openalex.org/W2028242471","https://openalex.org/W2039131940","https://openalex.org/W2046059763","https://openalex.org/W2047990226","https://openalex.org/W2049543502","https://openalex.org/W2053833381","https://openalex.org/W2055501135","https://openalex.org/W2067048674","https://openalex.org/W2072369534","https://openalex.org/W2084496493","https://openalex.org/W2099430963","https://openalex.org/W2105066050","https://openalex.org/W2124595631","https://openalex.org/W2125105520","https://openalex.org/W2139656913","https://openalex.org/W2141346996","https://openalex.org/W2144088174","https://openalex.org/W2154727088","https://openalex.org/W2156950870","https://openalex.org/W2158907787","https://openalex.org/W2162548352","https://openalex.org/W2168359464","https://openalex.org/W2171084228","https://openalex.org/W2204543705","https://openalex.org/W2238582461","https://openalex.org/W2294100503","https://openalex.org/W2399169217","https://openalex.org/W2505439654","https://openalex.org/W2607868186","https://openalex.org/W2619014647","https://openalex.org/W2783145541","https://openalex.org/W2805387616","https://openalex.org/W2950225756","https://openalex.org/W2952937032","https://openalex.org/W2963922879","https://openalex.org/W2964134204","https://openalex.org/W3101822862","https://openalex.org/W4249402523","https://openalex.org/W6604974139","https://openalex.org/W6631864160","https://openalex.org/W6675685508","https://openalex.org/W6675713325","https://openalex.org/W6678541622","https://openalex.org/W6681718981","https://openalex.org/W6682864419","https://openalex.org/W6684973485","https://openalex.org/W6696705104","https://openalex.org/W6737007698","https://openalex.org/W6738105408"],"related_works":["https://openalex.org/W2970804664","https://openalex.org/W2783145541","https://openalex.org/W2041410300","https://openalex.org/W2750693409","https://openalex.org/W78785118","https://openalex.org/W1487408605","https://openalex.org/W1558845053","https://openalex.org/W1489989161","https://openalex.org/W2123157758","https://openalex.org/W2116753650","https://openalex.org/W2952937032","https://openalex.org/W3156635476","https://openalex.org/W2546801625","https://openalex.org/W2169294731","https://openalex.org/W2114275913","https://openalex.org/W2186072292","https://openalex.org/W2277190572","https://openalex.org/W2904784373","https://openalex.org/W2183865782","https://openalex.org/W602901760"],"abstract_inverted_index":{"This":[0],"article":[1],"develops":[2],"novel":[3],"strategies":[4],"for":[5,125,142],"optimal":[6],"planning":[7],"with":[8,99,149],"semantic":[9,81,150],"observations":[10,151],"using":[11,76],"continuous":[12,106],"state":[13],"partially":[14],"observable":[15],"Markov":[16],"decision":[17,93],"processes":[18],"(CPOMDPs).":[19],"Two":[20],"major":[21,58,118],"innovations":[22,160],"are":[23,44,161],"presented":[24],"in":[25],"relation":[26],"to":[27,46,131,190,195],"Gaussian":[28],"mixture":[29,126],"(GM)":[30],"CPOMDP":[31],"policy":[32,74,135,170],"approximation":[33],"methods.":[34],"While":[35],"existing":[36],"methods":[37],"have":[38],"many":[39],"desirable":[40],"theoretical":[41],"properties,":[42],"they":[43],"unable":[45],"efficiently":[47],"represent":[48],"and":[49,113,137,146,178,193],"reason":[50],"over":[51],"hybrid":[52],"continuous-discrete":[53,80],"probabilistic":[54],"models.":[55],"The":[56,116],"first":[57],"innovation":[59,119],"is":[60,90,120],"the":[61,154,185],"derivation":[62],"of":[63,69,79,87,187],"closed-form":[64],"variational":[65],"Bayes":[66],"GM":[67,134,155],"approximations":[68],"point-based":[70],"value":[71],"iteration":[72],"Bellman":[73],"backups,":[75],"softmax":[77],"models":[78,109],"observation":[82],"probabilities.":[83],"A":[84],"key":[85],"benefit":[86],"this":[88,188],"approach":[89,189],"that":[91,128,153],"dynamic":[92,107],"making":[94],"tasks":[95],"can":[96],"be":[97],"performed":[98],"complex":[100],"non-Gaussian":[101],"uncertainties,":[102],"while":[103],"also":[104],"exploiting":[105],"state-space":[108],"(thus":[110],"avoiding":[111],"cumbersome":[112],"costly":[114],"discretization).":[115],"second":[117],"a":[121,143],"new":[122],"clustering-based":[123],"technique":[124],"condensation":[127],"scales":[129],"well":[130],"very":[132],"large":[133],"functions":[136],"belief":[138],"functions.":[139],"Simulation":[140],"results":[141,183],"target":[144],"search":[145],"interception":[147],"task":[148],"show":[152,184],"policies":[156],"resulting":[157],"from":[158],"these":[159],"more":[162],"effective":[163],"than":[164],"those":[165],"produced":[166],"by":[167],"other":[168],"state-of-the-art":[169],"approximations,":[171],"but":[172],"require":[173],"significantly":[174],"less":[175],"modeling":[176],"overhead":[177],"online":[179],"runtime":[180],"cost.":[181],"Additional":[182],"robustness":[186],"model":[191],"errors":[192],"scaling":[194],"higher":[196],"dimensions.":[197]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-08-04T00:00:00"}