速く遠くを見る：高速状態サンプリングによる長期的オンラインPOMDP計画
Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling
不確実性下での動作計画に用いるPOMDPの長期的問題を解くため、高速サンプリングベースの動作計画で多様なマクロアクションを生成し、信念空間サンプリングを偏らせて高品質な方策を導出する新しい近似オンラインソルバーROP-RAS3を提案した。
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著者: Yuanchu Liang, Edward Kim, J. Arden Knoll, Wil Thomason, Zachary Kingston, Lydia E. Kavraki, Hanna Kurniawati
分類: cs.RO
原文アブストラクト
Partially Observable Markov Decision Processes (POMDPs) are a general and principled framework for motion planning under uncertainty. Despite tremendous improvement in the scalability of POMDP solvers, long-horizon POMDPs remain difficult to solve. To alleviate the difficulty, this paper proposes a new approximate online POMDP solver, called Reference-Based Online POMDP Planning via Rapid State Space Sampling (ROP-RAS3). ROP-RAS3 uses novel extremely fast sampling-based motion planning techniques to sample the state space and generate a diverse set of macro actions online, which are then used to bias belief-space sampling and infer high-quality policies without requiring exhaustive enumeration of the action space -- a fundamental constraint for modern online POMDP solvers. ROP-RAS3 converges to a near-optimal reference-based solution at a rate that depends on the number of sampled actions, rather than the size of the action space. ROP-RAS3 is evaluated on various long-horizon POMDPs with up to 3000 lookahead steps and 35-dimensional state spaces, where the state, action and observation spaces can be continuous, discrete, or a hybrid of discrete and continuous. Although the reference-based optimal solution may not be the same as the optimal POMDP solution, empirical results indicate that in all of these problems, in terms of success rate, ROP-RAS3 outperforms other state-of-the-art methods by up to multiple folds. We also demonstrate the capability of our approach on a physical robot demonstration. This work extends the theory and empirical results of our ISRR24 paper. Code can be found at \texttt{https://github.com/RDLLab/ROPRAS3}.
