POMDP Planning | Publication Areas

M. Lauri, D. Hsu, and J. Pajarinen. Partially observable Markov decision processes in robotics: A survey. IEEE Trans. on Robotics, 39(1):21-40, 2023.
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@article{LauHsu23,
        title = {Partially Observable Markov Decision Processes in Robotics: A Survey},
        author = {M. Lauri and D. Hsu and J. Pajarinen},
        journal = TRO,
        volume = {39},
        number = {1},
        year = {2023}}

P.P. Cai, Y.F. Luo, D. Hsu, and W.S. Lee. HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty. Int. J. Robotics Research, 40(2–3), 2021.
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@article{CaiLuo21,
	author = {P.P. Cai and Y.F. Luo and D. Hsu and W.S. Lee},
	bib2html_pubtype = {Journal},
	bib2html_rescat = {POMDP Planning},
	journal = {Int. J.  Robotics Research},
	number = {2--3},
	title = {{HyP-DESPOT}: A Hybrid Parallel Algorithm for Online Planning under Uncertainty},
	volume = {40},
	year = {2021}}

Y. Lee, P. Cai, and D. Hsu. MAGIC: Learning macro-actions for online POMDP planning. In Proc. Robotics: Science & Systems, 2021.
BibTeX PDF Video

@inproceedings{LeeCai21,
	Author = {Y. Lee and P. Cai, and D. Hsu },
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning, Autonomous Driving},
	Booktitle = RSS,
	Title = {MAGIC: Learning Macro-Actions for Online POMDP Planning},
	Year = {2021}}

Y.F. Luo, H.Y. Bai, D. Hsu, and W.S. Lee. Importance sampling for online planning under uncertainty. Int. J. Robotics Research, 38(2–3):162–181, 2019.
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@article{LuoBai19,
	Author = {Luo, Y.F. and Bai, H.Y. and Hsu, D. and Lee, W.S.},
	Bib2Html_Pubtype = {Journal},
	Bib2Html_Rescat = {POMDP Planning},
	Journal = IJRR,
	Number = {2--3},
	Pages = {162--181},
	Title = {Importance Sampling for Online Planning under Uncertainty},
	Volume = {38},
	Year = {2019}}

N.P. Garg, D. Hsu, and W.S. Lee. DESPOT-α: Online POMDP planning with large state and observation spaces. In Proc. Robotics: Science & Systems, 2019.
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@inproceedings{GarHsu19a,
	Author = {N.P. Garg and D. Hsu and W.S. Lee},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = RSS,
	Title = {{DESPOT-$\alpha$}: Online {POMDP} Planning With Large State and Observation Spaces},
	Year = {2019}}

P.P. Cai, Y.F. Luo, D. Hsu, and W.S. Lee. HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty. In Proc. Robotics: Science & Systems, 2018.
BibTeX PDF

@inproceedings{CaiLuo18,
        Author = {P.P. Cai and Y.F. Luo and D. Hsu and W.S. Lee},
        Bib2Html_Pubtype = {Refereed Conference and Workshop},
        Bib2Html_Rescat = {POMDP Planning},
        Booktitle =  {Proc. Robotics: Science \& Systems},
        Title = {HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty},
        Year = {2018}}

N. Ye, A. Somani, D. Hsu, and W. Lee. DESPOT: Online POMDP planning with regularization. J. Artificial Intelligence Research, 58:231–266, 2017.
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@article{YeSom17,
	Author = {N. Ye and A. Somani and D. Hsu and W.S. Lee},
	Bib2Html_Pubtype = {Journal},
	Bib2Html_Rescat = {POMDP Planning},
	Journal = JAIR,
	Pages = {231--266},
	Title = {{DESPOT}: Online {POMDP} Planning with Regularization},
	Volume = {58},
	Year = {2017}}

Y.F. Luo, H.Y. Bai, D. Hsu, and W.S. Lee. Importance sampling for online planning under uncertainty. In Algorithmic Foundations of Robotics XII – Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR). 2016.
BibTeX PDF

@inproceedings{LuoBai16,
   Author = {Y.F. Luo, H.Y. Bai, D. Hsu, and W.S. Lee},
   Booktitle = {Algorithmic Foundations of Robotics XII - Proc. Int. Workshop on the Algorithmic Foundations of Robotics},
   Title = {Importance sampling for online planning under uncertainty},
   Year = {2016},
   Bib2Html_Dl_Pdf = {http://bigbird.comp.nus.edu.sg/m2ap/wordpress/wp-content/uploads/2017/01/wafr16a.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {Algorithmic Foundations of Robotics},
}

M. Chen, E. Frazzoli, D. Hsu, and W.S. Lee. POMDP-Lite for robust planning under uncertainty. In Proc. IEEE Int. Conf. on Robotics & Automation, 2016.
BibTeX PDF

@inproceedings{ChenFra16,
   Author = {M. Chen and E. Frazzoli and D. Hsu and W.S. Lee},
   Booktitle = {Proc. IEEE Int. Conf. on Robotics & Automation},
   Title = {{POMDP-Lite} for robust robot planning under uncertainty},
   Year = {2016},
   Bib2Html_Dl_Pdf = {http://bigbird.comp.nus.edu.sg/m2ap/wordpress/wp-content/uploads/2016/08/icra16.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {POMDP Planning},
}

Z. Zhang, D. Hsu, W.S. Lee, Z.W. Lim, and A. Bai. PLEASE: Palm leaf search for POMDPs with large observation spaces. In Proc. Int. Conf. on Automated Planning & Scheduling, 2015.
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@inproceedings{ZhaHsu15,
	Author = {Z. Zhang and D. Hsu and W.S. Lee and Z.W. Lim and A. Bai},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = {Proc. Int. Conf. on Automated Planning & Scheduling},
	Title = {{PLEASE}: Palm Leaf Search for {POMDPs} with Large Observation Spaces},
	Year = {2015}}

Z. Zhang, D. Hsu, and L.S. Lee. Covering number for efficient heuristic-based POMDP planning. In Proc. Int. Conf. on Machine Learning. 2014.
BibTeX PDF

@incollection{ZhaHsu14,
	Author = {Z. Zhang and D. Hsu and L.S. Lee},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = {Proc. Int. Conf. on Machine Learning},
	Title = {Covering Number for Efficient Heuristic-based {POMDP} Planning},
	Year = {2014}}

H.Y. Bai, D. Hsu, and W.S. Lee. Integrated perception and planning in the continuous space: A POMDP approach. Int. J. Robotics Research, 33(9):1288–1302, 2014.
BibTeX PDF

@article{BaiHsu14,
	Author = {H.Y. Bai and D. Hsu and W.S. Lee},
	Bib2Html_Pubtype = {Journal},
	Bib2Html_Rescat = {POMDP Planning},
	Journal = {Int. J. Robotics Research},
	Number = {9},
	Pages = {1288--1302},
	Title = {Integrated perception and planning in the continuous space: A {POMDP} approach},
	Volume = {33},
	Year = {2014}}

H.Y. Bai, D. Hsu, and W.S. Lee. Integrated perception and planning in the continuous space: A POMDP approach. In Proc. Robotics: Science and Systems, 2013.
BibTeX PDF (with supplementary material)

@inproceedings{BaiHsu13b,
	Author = {H.Y. Bai and D. Hsu and W.S. Lee},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = {Proc. Robotics: Science and Systems},
	Title = {Integrated perception and planning in the continuous space: A {POMDP} approach},
	Year = {2013}}

A. Somani, N. Ye, D. Hsu, and W.S. Lee. DESPOT: Online POMDP planning with regularization. In Advances in Neural Information Processing Systems (NIPS). 2013.
BibTeX PDF (with supplementary material) Software Video

@incollection{SomYe13,
	Author = {A. Somani and N. Ye and D. Hsu and W.S. Lee},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = {Advances in Neural Information Processing Systems},
	Title = {{DESPOT}: Online {POMDP} Planning with Regularization},
	Year = {2013}}

H. Kurniawati and Y. Du and D. Hsu and W.S. Lee. Motion planning under uncertainty for robotic tasks with long time horizons. Int. J. Robotics Research, 30(3):308-323, 2011.
BibTeX PDF

@Article{KurDu11,
 author = {H. Kurniawati and Y. Du and D. Hsu and W.S. Lee},
 title = {Motion planning under uncertainty for robotic tasks with long time horizons},
 journal  = {Int. J.  Robotics Research},
 year = {2011},
 volume = {30},
 number = {3},
 pages = {308--323},
 Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/ijrr10a.pdf},
 Bib2Html_Pubtype = {Journal},
 Bib2Html_Rescat = {POMDP Planning},
}

Z.W. Lim, D. Hsu, and W.S. Lee. Monte Carlo value iteration with macro-actions. In Advances in Neural Information Processing Systems (NIPS), 2011.
BibTeX PDF (with supplementary material) Software

@incollection{LimHsu11,
	Author = {Lim, Z.W. and Hsu, D. and Lee, W.S.},
	Bib2Html_Pubtype = {Refereed Conference and Workshop},
	Bib2Html_Rescat = {POMDP Planning},
	Booktitle = {Advances in Neural Information Processing Systems},
	Date-Modified = {2013-06-14 15:26:24 +0000},
	Title = {{Monte Carlo} value iteration with macro-actions},
	Year = {2011}}

S.C.W. Ong, S.W. Png, D. Hsu, and W.S. Lee. Planning under Uncertainty for Robotic Tasks with Mixed Observability. Int. J. Robotics Research, 29(8):1053–1068, 2010.
BibTeX PDF Software

@Article{OngPng10,
   author = {S.C.W. Ong and S.W. Png and D. Hsu and W.S. Lee},
   title = {Planning under Uncertainty for Robotic Tasks with Mixed Observability},
   journal = 'Int. J.  Robotics Research',
   year = {2010},
   volume = {29},
   number = {8},
   pages = {1053--1068},
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/ijrr10.pdf},
   Bib2Html_Pubtype = {Journal},
   Bib2Html_Rescat = {POMDP Planning},
}

H.Y. Bai and D. Hsu and W.S. Lee and V.A. Ngo. Monte Carlo value iteration for continuous-state POMDPs. In D. Hsu et al., editors, Algorithmic Foundations of Robotics IX—Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010.
BibTeX PDF Software

@InCollection{BaiHsu10,
 author = {H.Y. Bai and D. Hsu and W.S. Lee and V.A. Ngo},
 title = {{Monte Carlo} value iteration for continuous-state {POMDPs}},
 booktitle = {Algorithmic Foundations of Robotics IX---Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)},
 year = {2010},
 publisher = {Springer},
 editor = {D. Hsu  and others},
 Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/wafr10.pdf},
 Bib2Html_Pubtype = {Refereed Conference and Workshop},
 Bib2Html_Rescat = {POMDP Planning},
}

S.C.W. Ong, S.W. Png, D. Hsu, and W.S. Lee. POMDPs for robotic tasks with mixed observability. In Proc. Robotics: Science and Systems, 2009.
BibTeX PDF Software

@inproceedings{OngPng09,
   Author = {S.C.W. Ong and S.W. Png and  D. Hsu and W.S. Lee},
   Title = {{POMDPs} for robotic tasks with mixed observability} ,
   Year = {2009},
   Booktitle = 'Proc. Robotics: Science and Systems',
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/rss09.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {POMDP Planning},
}

H. Kurniawati, Y. Du, D. Hsu, and W.S. Lee. Motion planning under uncertainty for robotic tasks with long time horizons. In Proc. Int. Symp. on Robotics Research, 2009.
BibTeX PDF

@inproceedings{KurDu09,
   Author = {H. Kurniawati and Y. Du and D. Hsu and W.S. Lee},
   Title = {Motion planning under uncertainty for robotic tasks with long time horizons},
   Booktitle = 'Proc. Int. Symp. on Robotics Research',
   Year = {2009},
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/isrr09.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {POMDP Planning},
}

D. Hsu, W.S. Lee, and N. Rong. What makes some POMDP problems easy to approximate?. In Advances in Neural Information Processing Systems (NIPS), 2007.
BibTeX PDF

@InProceedings{HsuLee07a,
   author = {D. Hsu and W.S. Lee and N. Rong},
   title = {What makes some {POMDP} problems easy to approximate?},
   booktitle = 'Advances in Neural Information Processing Systems (NIPS)',
   year = {2007},
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/nips07.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {POMDP Planning},
}

H. Kurniawati, D. Hsu, and W.S. Lee. SARSOP: Efficient point-based POMDP planning by approximating optimally reachable belief spaces. In Proc. Robotics: Science and Systems, 2008.
BibTeX PDF Software

@inproceedings{KurHsu08,
   Author = {H. Kurniawati and D. Hsu and W.S. Lee},
   Title = {{SARSOP}: Efficient point-based {POMDP} planning by approximating optimally reachable belief spaces},
   Booktitle = 'Proc. Robotics: Science and Systems',
   Year = {2008},
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/rss08.pdf},
   Bib2Html_Pubtype = {Refereed Conference and Workshop},
   Bib2Html_Rescat = {POMDP Planning},
}

D. Hsu, W.S. Lee, and N. Rong. Accelerating point-based POMDP algorithms through successive approximations of the optimal reachable space. Technical Report TRA4/07, National University of Singapore. School of Computing, 2007.
BibTeX PDF

@TechReport{HsuLee07,
   author = {D. Hsu and W.S. Lee and N. Rong},
   title = {Accelerating point-based {POMDP} algorithms through successive approximations of the optimal reachable space},
   institution =  {National University of Singapore. School of Computing},
   year = {2007},
   number = {TRA4/07},
   month = {April},
   Bib2Html_Dl_Pdf = {http://motion.comp.nus.edu.sg/papers/tra4-07.pdf},
   Bib2Html_Pubtype = {Techical Report},
   Bib2Html_Rescat = {POMDP Planning},
}

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