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--- title: "CALP" source: https://www.jemoka.com/posts/kbhcalp/ --- Contraindicated offline POMDP solver. Contrained belief state MDP Linear Programming belief set generation Approximate POMDP with Contrainst CPOMDPs are Hard Can’t do DP with pruning: optimal policies may be stochastic Minimax quadratically contained program: computational intractable Contained PBVI struggles with contraint satisfaction CALP Core Idea Recast CPOMDP as a contrained belief-state MDP. We replace our state-space with our belief space: \(S = B\) \(s_0 = b_0\) You essentially assume here that there is some finite belief space.