6. Example M B K E 0.1 0.1 0.1 0.1 0.1 0.1 0.8 0.8 POMDP: S o = { M eds, K itchen, B edroom} A o = {ClarifyTask, Check M eds, GoTo K itchen, GoTo B edroom} O o = {Noise, M eds, K itchen, B edroom} Value Function: MedsState KitchenState BedroomState 0.8 GoToKitchen ClarifyTask GoToBedroom CheckMeds
8. Local Value Function and Policy - Move Controller ClarifyTask GoToKitchen GoToBedroom MedsState KitchenState BedroomState
9. Modeling Abstract Actions ClarifyTask GoToKitchen GoToBedroom MedsState KitchenState BedroomState Problem : Need parameters for abstract action Move Solution : Use the local policy of corresponding low-level controller General form : Pr ( s j | s i , a k abstract ) = Pr ( s j | s i , Policy(a k abstract ,s i ) ) Example : Pr ( s j | MedsState , Move ) = Pr ( s j | MedsState , ClarifyTask ) Policy (Move,s i ):
10. Local Value Function and Policy - Act Controller Move MedsState KitchenState BedroomState CheckMeds