---
title: "AdaOPS"
type: concept
related: [Kl Divergence]
source: https://www.jemoka.com/posts/kbhadaops/
confidence: high
status: active
---

How do you sample particle filters? This doesn&rsquo;t work for a continuous action space.
Contributions Uses KLD sampling&mdash;adaptive sampling of particple filters &ldquo;belief packing&rdquo;&mdash;pack similar beliefs together, making observation tree smaller KLD Sampling KLD Sampling uses KL Divergence to approximate difference between two probability distributions:
\begin{equation} N \approx \frac{k-1}{2\xi} \qty(1- \frac{2}{9(k-1)} + \sqrt{\frac{2}{9(k-1)}} z_{1-\eta})^{3} \end{equation}
&ldquo;Propagation&rdquo; We want to get a set of sampled observations from belief + action.
Belief Packing L1 norm between beliefs. If its too small consider them the same beliefs.
