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--- title: "Pineau 2006" type: concept related: [Point Based Value Iteration] source: https://www.jemoka.com/posts/kbhpineau_2006/ confidence: high status: active --- (Pineau, Gordon, and Thrun 2006) PBVI One-Liner “If we can avoid the curse of history, the curse of dimensionality wouldn’t be a problem”. Basically - most POMDP problems don’t reach much of the belief simplex. So, can we concetrate planning on more probable beliefs. Novelty trajectory based approach to select beliefs belief set is fixed through layers: each backup results in the same number of layers Notable Methods PBVI Key Figs New Concepts Notes