A Partially Observable Monte Carlo Planning Algorithm Based on Path Modification

Balancing exploration and exploitation has long been recognized as an important theme in the online planning algorithms for POMDP problems. Explorative actions on one hand prevent the planning from falling into the suboptimal dilemma, while hindering the convergence of the planning procedure on the other hand. Therefore, it is meaningful to maintain the exploration as well as taking a step forward towards exploitation. Note that there is a deviation between the action selection criteria in the planning procedure and in the execution procedure, which inspires us to build a bridge between these two criteria to accelerate the convergence. A Partially Observable Monte Carlo Planning algorithm based on Path Modification (POMCP-PM) is presented in the paper, which modifies the backtracing paths by considering the two criteria simultaneously when updating the values of parent nodes. The algorithm is general as the Upper Confidence Bound Apply to Tree (UCT) algorithm used to select actions can be easily replaced by other criteria. Experimental results demonstrate that POMCP-PM outperforms POMCP with varying numbers of simulations on several scenarios with different scales.