Heuristic Search Value Iteration for POMDPs

Trey Smith and Reid Simmons
Proc. of UAI 2004, 2004.


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Abstract
We present a novel POMDP planning algorithm called heuristic search value iteration (HSVI). HSVI is an anytime algorithm that returns a policy and a provable bound on its regret with respect to the optimal policy. HSVI gets its power by combining two well-known techniques: attention-focusing search heuristics and piecewise linear convex representations of the value function. HSVI's soundness and convergence have been proven. On some benchmark problems from the literature, HSVI displays speedups of greater than 100 with respect to other state-of-the-art POMDP value iteration algorithms. We also apply HSVI to a new rover exploration problem 10 times larger than most POMDP problems in the literature.

Keywords
planning, probabilistic, POMDP, heuristic search

Notes
Number of pages: 8

Text Reference
Trey Smith and Reid Simmons, "Heuristic Search Value Iteration for POMDPs," Proc. of UAI 2004, 2004.

BibTeX Reference
@inproceedings{Smith_2004_4820,
   author = "Trey Smith and Reid Simmons",
   title = "Heuristic Search Value Iteration for POMDPs",
   booktitle = "Proc. of UAI 2004",
   address = "Banff, Alberta",
   year = "2004",
}