---
title: "Point-based value iteration: An anytime algorithm for POMDPs"
authors:
  - "Joelle Pineau"
  - "Geoffrey J. Gordon"
  - "Sebastian Thrun"
doi: ""
url: "https://ijcai.org/proceedings/2003/146"
pdf: "https://ijcai.org/proceedings/2003/0146.pdf"
venue: "Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence"
year: 2003
pages: "1025-1031"
track: ""
keywords:
---

# Point-based value iteration: An anytime algorithm for POMDPs

Joelle Pineau, Geoffrey J. Gordon, Sebastian Thrun

*Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence*, pages 1025-1031.

## Abstract

This paper introduces the Point-Based Value Iteration ~PBVI) algorithm for POMDP planning. PBVI approxImates an exact value iteration solution by selecting a small set of representative belief points and then tracking the value and its derivative for those points only. By using_s to~h.astic trajectories to choose belief points, and by mamtammg only one value hyper-plane per point, PBVI successfully solves large problems: we present results on a robotic laser tag problem as well as three test domains from the literature.