CAR-DESPOT: Causally-Informed Online POMDP Planning for Robots in Confounded Environments
Ricardo Cannizzaro,Lars Kunze,Ricardo Cannizzaro,Lars Kunze
Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state. A major challenge for making accurate and robust action predictions is the problem of confounding, which if left untreated can lead to prediction errors. The partially observable Markov decision process (POMDP) is a widely-u...
