# 面向高维 POMDP 的可扩展 Rao-Blackwellized 在线规划

> 原文链接：https://robotics.hellobike.com/papers/2026-09-01-2609-01351
> 频道：papers | 更新日期：2026-09-01 | 标签：arxiv, cs.RO
> 核心摘要：针对高维部分可观测环境中的在线规划，提出混合连续-离散信念的 RB-POMDP，并在机器人搜救任务中验证。

# 面向高维 POMDP 的可扩展 Rao-Blackwellized 在线规划

::: v-pre
> 原文链接：[Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs](https://arxiv.org/abs/2609.01351)（arXiv 2609.01351 · 发布日期：2026-09-01）

**Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs**

针对高维部分可观测环境中的在线规划，提出混合连续-离散信念的 RB-POMDP，并在机器人搜救任务中验证。

## 核心要点

- 高维状态下，采样式 POMDP 求解器因蒙特卡洛估计方差高而性能退化。
- 方法采用混合连续-离散信念表示，在树搜索中解析传播边缘化状态不确定性。
- 集成 FastSLAM 2.0 用于机器人搜救任务，并与纯采样式方法进行比较。
- 在相同计算预算下，以显著更少粒子和规划仿真获得更高累计奖励。

**验证范围与局限**：验证范围为集成 FastSLAM 2.0 的机器人搜救任务。

## 英文摘要 (Abstract)

Online planning under uncertainty remains a fundamental challenge for robotic systems operating in partially observable environments with high-dimensional state spaces. While sampling-based POMDP solvers enable approximate decision-making in large or continuous domains, their performance degrades as belief dimensionality increases due to the high variance inherent in Monte Carlo-based estimation. In this work, we extend the Rao-Blackwellized online POMDP (RB-POMDP) framework to improve its generalizability in high-dimensional settings through hybrid continuous-discrete belief representations. By analytically propagating uncertainty associated with marginalized state components during tree-based planning, the proposed approach reduces sampling-induced variance in value estimation. We demonstrate the effectiveness of this framework in a robotic search-and-rescue task by integrating it with FastSLAM 2.0. Experimental results show that the proposed planner achieves higher cumulative rewards using significantly fewer particles and planning simulations than purely sampling-based methods under equivalent computational budgets. These results suggest that structured high-dimensional robotic problems admitting tractable sufficient statistics can be effectively leveraged within the RB-POMDP framework for computationally feasible online decision-making.

作者：Lee, Jiho, Nisar Ahmed, Kyle Hollins Wray, Zachary N. Sunberg
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## 原始参考来源 (Sources)

- [arXiv 2609.01351：Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs](https://arxiv.org/abs/2609.01351)