---
title: "Pineau 2006"
type: concept
related: [Point Based Value Iteration]
source: https://www.jemoka.com/posts/kbhpineau_2006/
confidence: high
status: active
---

(Pineau, Gordon, and Thrun 2006)
PBVI
One-Liner &ldquo;If we can avoid the curse of history, the curse of dimensionality wouldn&rsquo;t be a problem&rdquo;.
Basically - most POMDP problems don&rsquo;t reach much of the belief simplex. So, can we concetrate planning on more probable beliefs.
Novelty trajectory based approach to select beliefs belief set is fixed through layers: each backup results in the same number of layers Notable Methods PBVI
Key Figs New Concepts Notes
