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ρ-POMDPs have Lipschitz-Continuous ϵ-Optimal Value Functions

Mathieu Fehr 1 Olivier Buffet 2 Vincent Thomas 3 Jilles Dibangoye 4
3 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
4 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Many state-of-the-art algorithms for solving Partially Observable Markov Decision Processes (POMDPs) rely on turning the problem into a "fully observable" problem---a belief MDP---and exploiting the piece-wise linearity and convexity (PWLC) of the optimal value function in this new state space (the belief simplex ∆). This approach has been extended to solving ρ-POMDPs---i.e., for information-oriented criteria-when the reward ρ is convex in ∆. General ρ-POMDPs can also be turned into "fully observable" problems, but with no means to exploit the PWLC property. In this paper, we focus on POMDPs and ρ-POMDPs with λ ρ-Lipschitz reward function, and demonstrate that, for finite horizons, the optimal value function is Lipschitz-continuous. Then, value function approximators are proposed for both upper-and lower-bounding the optimal value function, which are shown to provide uniformly improvable bounds. This allows proposing two algorithms derived from HSVI which are empirically evaluated on various benchmark problems.
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Submitted on : Wednesday, January 9, 2019 - 9:53:23 AM
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  • HAL Id : hal-01903685, version 2


Mathieu Fehr, Olivier Buffet, Vincent Thomas, Jilles Dibangoye. ρ-POMDPs have Lipschitz-Continuous ϵ-Optimal Value Functions. NIPS 2018 - Thirty-second Conference on Neural Information Processing Systems, Dec 2018, Montréal, Canada. pp.1-27. ⟨hal-01903685v2⟩



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