9 min readSequential Decisions and Reinforcement Learning
Acting When You Cannot See the State
What changes when an agent gets noisy percepts instead of its state: the belief state that replaces it and the filtering update that maintains it, the exact reduction of a POMDP to an MDP over beliefs, the piecewise-linear convex value function that makes the reduction computable in principle, and the measured reasons it is not computable in practice - with the fixed point of belief, the alpha vectors and the value function all computed rather than asserted.
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