---
title: "CALP"
type: concept
related: [Belief State Mdp, Point Based Value Iteration, Cpomdp]
source: https://www.jemoka.com/posts/kbhcalp/
confidence: high
status: active
---

Contraindicated offline POMDP solver.
Contrained belief state MDP Linear Programming belief set generation Approximate POMDP with Contrainst CPOMDPs are Hard Can&rsquo;t do DP with pruning: optimal policies may be stochastic Minimax quadratically contained program: computational intractable Contained PBVI struggles with contraint satisfaction CALP Core Idea Recast CPOMDP as a contrained belief-state MDP.
We replace our state-space with our belief space:
\(S = B\) \(s_0 = b_0\) You essentially assume here that there is some finite belief space.
