Reinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration with Application to Autonomous Sequential Repair Problems
Sushmita Bhattacharya, Sahil Badyal, Thomas Wheeler, Stephanie Gil, Dimitri Bertsekas
Abstract
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, and partial state observations. We discuss an algorithm that uses multistep lookahead, truncated rollout with a known base policy, and a terminal cost function approximation. This algorithm is also used for policy improvement in an approximate policy iteration scheme, where successive policies are approximated by using a neural network classifier. A novel feature of our approach is that it is well suited for distributed computation through an extended belief space formulation and the use of a partitioned architecture, which is trained with multiple neural networks. We apply our methods in simulation to a class of sequential repair problems where a robot inspects and repairs a pipeline with potentially several rupture sites under partial information about the state of the pipeline. Index Terms—Optimization and Optimal Control, Distributed Robot Systems, Autonomous Agents, Search and Rescue Robots, Deep Learning in Robotics and Automation.
 | Reinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration with Application to Autonomous Sequential Repair Problems | 3.41 MB |
