POMDP planning faces two major computational challenges: large state spaces and long planning horizons. The recently introduced Monte Carlo Value Iteration (MCVI) can tackle POMDPs with very large discrete state spaces or continuous state spaces, but its performance degrades when faced with long planning horizons. This paper presents Macro-MCVI, which extends MCVI by exploiting macro-actions fo...

X k=1 z 0k A0;k(z M)Mi01(z M): (41) This formula makes transparent exactly what happens in a recursive computation of the correlation functions. At every stage i, we have the Z-transform at points M 0i n of the appropriate function. In going to the (i + 1)st stage, the rst term Mi01(z M) ensures that values at the previous stage are retained at the even points, while the second term interpolate...

after the cold war, the concept of international security underwent a modification. among the most important components of such a transformation, the consolidation of ‘environmental security’, a topic in international security, can be taken into account. environmental security deal with threats that are not only the unintentional result of social and economic activities but are very slow in...