Variable resolution decomposition for robotic navigation under a POMDP framework
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Partially Observable Markov Decision Processes (POMDPs) offer a powerful mathematical framework for making optimal action choices in noisy and/or uncertain environments, in particular, allowing us to merge localization and decision-making for mobile robots. While advancements in POMDP techniques have allowed the use of much larger models, POMDPs for robot navigation are still limited by large state space requirements for even small maps. In this work, we propose a method to automatically generate a POMDP representation of an environment. By using variable resolution decomposition techniques, we can take advantage of characteristics of the environment to minimize the number of states required, while maintaining the level of detail required to find a robust and efficient policy. This is accomplished by automatically adjusting the level of detail required for planning at a given region, with few states representing large open areas, and many smaller states near objects. We validate this algorithm in POMDP simulations, a robot simulator as well as an autonomous robot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it