<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-02943028</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-16T18:37:48+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Monte Carlo Information-Oriented Planning</title>
            <title xml:lang="fr">Planification Monte Carlo orientée information.</title>
            <author role="aut">
              <persName>
                <forename type="first">Vincent</forename>
                <surname>Thomas</surname>
              </persName>
              <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
              <email type="domain">loria.fr</email>
              <idno type="idhal" notation="string">vincent-thomas</idno>
              <idno type="idhal" notation="numeric">16368</idno>
              <idno type="halauthorid" notation="string">111540-16368</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-3401-4649</idno>
              <orgName ref="#struct-413289"/>
              <affiliation ref="#struct-415996"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Gérémy</forename>
                <surname>Hutin</surname>
              </persName>
              <idno type="halauthorid">1702361-0</idno>
              <affiliation ref="#struct-6818"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Olivier</forename>
                <surname>Buffet</surname>
              </persName>
              <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
              <email type="domain">loria.fr</email>
              <idno type="idhal" notation="string">olivier-buffet</idno>
              <idno type="idhal" notation="numeric">1407</idno>
              <idno type="halauthorid" notation="string">19343-1407</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5072-5857</idno>
              <affiliation ref="#struct-415996"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Vincent</forename>
                <surname>Thomas</surname>
              </persName>
              <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
              <email type="domain">loria.fr</email>
            </editor>
            <funder>Experiments presented in this paper were carried out using the Grid’5000 testbed, supported by a scientific interest group hostedby Inria and including CNRS, RENATER and several Universities as well as other organizations (see https://www.grid5000.fr).</funder>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2020-09-18 15:09:49</date>
              <date type="whenModified">2025-11-04 12:05:19</date>
              <date type="whenReleased">2020-09-21 14:09:19</date>
              <date type="whenProduced">2020-08-29</date>
              <date type="whenEndEmbargoed">2020-09-18</date>
              <ref type="file" target="https://inria.hal.science/hal-02943028v1/document">
                <date notBefore="2020-09-18"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://inria.hal.science/hal-02943028v1/file/ecai_2020.pdf" id="file-2943028-2591942">
                <date notBefore="2020-09-18"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="104171">
                <persName>
                  <forename>Vincent</forename>
                  <surname>Thomas</surname>
                </persName>
                <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
                <email type="domain">loria.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-02943028</idno>
            <idno type="halUri">https://inria.hal.science/hal-02943028</idno>
            <idno type="halBibtex">thomas:hal-02943028</idno>
            <idno type="halRefHtml">&lt;i&gt;24th ECAI 2020 - European Conference on Artificial Intelligence&lt;/i&gt;, Aug 2020, Santiago de Compostela, Spain</idno>
            <idno type="halRef">24th ECAI 2020 - European Conference on Artificial Intelligence, Aug 2020, Santiago de Compostela, Spain</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-2943028-2591942"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="ENS-LYON">École Normale Supérieure de Lyon</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="LORIA2">Publications du LORIA</idno>
            <idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno>
            <idno type="stamp" n="GRID5000">Grid'5000</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
            <idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="LORIA">Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno>
            <idno type="stamp" n="LORIA-AIS" corresp="LORIA">Department of Complex Systems, Artificial Intelligence  &amp; Robotics</idno>
            <idno type="stamp" n="UDL">UDL</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="SLICES-FR">Publications from users of the SILECS research infrastructure</idno>
            <idno type="stamp" n="AM2I-UL">Pôle scientifique Automatique, Mathématiques, Informatique et leurs Intéractions de l'Université de Lorraine</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Monte Carlo Information-Oriented Planning</title>
                <title xml:lang="fr">Planification Monte Carlo orientée information.</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Vincent</forename>
                    <surname>Thomas</surname>
                  </persName>
                  <email type="md5">36ab4db1c00a7ff6a3aa39d443eefade</email>
                  <email type="domain">loria.fr</email>
                  <idno type="idhal" notation="string">vincent-thomas</idno>
                  <idno type="idhal" notation="numeric">16368</idno>
                  <idno type="halauthorid" notation="string">111540-16368</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-3401-4649</idno>
                  <orgName ref="#struct-413289"/>
                  <affiliation ref="#struct-415996"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Gérémy</forename>
                    <surname>Hutin</surname>
                  </persName>
                  <idno type="halauthorid">1702361-0</idno>
                  <affiliation ref="#struct-6818"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Olivier</forename>
                    <surname>Buffet</surname>
                  </persName>
                  <email type="md5">aa57b718d11e58203d4dcbbfd06d471b</email>
                  <email type="domain">loria.fr</email>
                  <idno type="idhal" notation="string">olivier-buffet</idno>
                  <idno type="idhal" notation="numeric">1407</idno>
                  <idno type="halauthorid" notation="string">19343-1407</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5072-5857</idno>
                  <affiliation ref="#struct-415996"/>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>24th ECAI 2020 - European Conference on Artificial Intelligence</title>
                  <date type="start">2020-08-29</date>
                  <settlement>Santiago de Compostela</settlement>
                  <country key="ES">Spain</country>
                </meeting>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="https://dl.acm.org/ccs" n="ACM2012.K.2"/>
              <classCode scheme="https://dl.acm.org/ccs" n="ACM2012.K.2.2.1"/>
              <classCode scheme="halDomain" n="info.info-sy">Computer Science [cs]/Systems and Control [cs.SY]</classCode>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>In this article, we discuss how to solve information-gathering problems expressed as ρ-POMDPs, an extension of Partially Observable Markov Decision Processes (POMDPs) whose reward ρ depends on the belief state. Point-based approaches used for solving POMDPs have been extended to solving ρ-POMDPs as belief MDPs when its reward ρ is convex in B or when it is Lipschitz-continuous. In the present paper, we build on the POMCP algorithm to propose a Monte Carlo Tree Search for ρ-POMDPs, aiming for an efficient on-line planner which can be used for any ρ function. Adaptations are required due to the belief-dependent rewards to (i) propagate more than one state at a time, and (ii) prevent biases in value estimates. An asymptotic convergence proof to-optimal values is given when ρ is continuous. Experiments are conducted to analyze the algorithms at hand and show that they outperform myopic approaches.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-415996" status="VALID">
          <idno type="RNSR">201521241C</idno>
          <idno type="ROR">https://ror.org/05rv46r52</idno>
          <orgName>Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment</orgName>
          <orgName type="acronym">LARSEN</orgName>
          <date type="start">2017-12-01</date>
          <date type="end">2026-10-30</date>
          <desc>
            <address>
              <addrLine>Centre Inria de l'Université de Lorraine , 615 Rue du Jardin-Botanique, 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/larsen</ref>
          </desc>
          <listRelation>
            <relation active="#struct-129671" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-423090" type="direct"/>
            <relation active="#struct-206040" type="indirect"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-413289" type="indirect"/>
            <relation name="UMR7503" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-6818" status="VALID">
          <idno type="IdRef">149154992</idno>
          <idno type="ISNI">0000000123319856</idno>
          <idno type="ROR">https://ror.org/04zmssz18</idno>
          <idno type="Wikidata">Q10159</idno>
          <orgName>École normale supérieure de Lyon</orgName>
          <orgName type="acronym">ENS de Lyon</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>15 parvis René Descartes - BP 7000 - 69342 Lyon Cedex 07</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.ens-lyon.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-129671" status="VALID">
          <idno type="RNSR">198618246Y</idno>
          <idno type="ROR">https://ror.org/03fcjvn64</idno>
          <orgName>Centre Inria de l'Université de Lorraine</orgName>
          <desc>
            <address>
              <addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/nancy</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="department" xml:id="struct-423090" status="VALID">
          <orgName>Department of Complex Systems, Artificial Intelligence &amp; Robotics</orgName>
          <orgName type="acronym">LORIA - AIS</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.loria.fr/en/research/departments/complex-systems-artificial-intelligence-and-robotics/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-206040" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-413289" type="indirect"/>
            <relation name="UMR7503" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-206040" status="VALID">
          <idno type="IdRef">067077927</idno>
          <idno type="ISNI">0000000121795429</idno>
          <idno type="RNSR">198912571S</idno>
          <idno type="IdUnivLorraine">[UL]RSI--</idno>
          <idno type="ROR">https://ror.org/02vnf0c38</idno>
          <orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName>
          <orgName type="acronym">LORIA</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.loria.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-413289" type="direct"/>
            <relation name="UMR7503" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-413289" status="VALID">
          <idno type="IdRef">157040569</idno>
          <idno type="IdUnivLorraine">[UL]100--</idno>
          <idno type="ROR">https://ror.org/04vfs2w97</idno>
          <orgName>Université de Lorraine</orgName>
          <orgName type="acronym">UL</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lorraine.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-301088" status="VALID">
          <idno type="ROR">https://ror.org/01rk35k63</idno>
          <orgName>Université de Lyon</orgName>
          <desc>
            <address>
              <addrLine>92 rue Pasteur - CS 30122, 69361 Lyon Cedex 07</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-lyon.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>