belief space planning assuming maximum likelihood observations
Author(s): Robert Platt Jr., Russ Tedrake, Leslie Kaelbling, Tomas Lozano-Perez
Venue: Robotics: Science and Systems VI
Year Published: 2010
Keywords: manipulation, dynamical systems, planning, gaussians
Expert Opinion: This isn't a learning paper, but a planning paper. Nonetheless, I feel the need to include it, as it strongly influenced my thinking about manipulation learning. It was the first work that I had seen make POMDPs work for real robotics problems. It teaches students that reasoning about uncertainty is important, but that you need to make the right assumptions in order to make it work for any reasonably sized problem. Whereas PILCO aims to reduce model uncertainty, this work assumes a correct model and leverages information-gathering actions to reduce state uncertainty. Thus, these papers are complementary when discussing uncertainty.