Risk-Averse Online POMDP Planning via CVaR of the Immediate Cost with Performance Guarantees
Online POMDP planners optimize the expected cumulative cost, which can mask dangerous states when the belief places significant mass on high-cost states. Existing risk-averse methods apply static or dynamic Conditional Value at Risk (CVaR) to the value function, capturing trajectory-level risk, but share two gaps: (i) by retaining the immediate cost as an expectation of a state-dependent cost over the belief, the risk \emph{within} the belief is left unaddressed; and (ii) by modifying the value function, they require new tailored algorithms rather than reusing existing expectation-based planners. We instead apply CVaR to the immediate cost over the belief at each step, directly targeting ...
| Authors | Yaacov Pariente, Vadim Indelman |
|---|---|
| Primary category | cs.AI |
| Published | 26 September 2026 |
| Last updated at source | 26 September 2026 |
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