{"id":20537,"date":"2024-12-02T16:24:22","date_gmt":"2024-12-02T08:24:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=20537"},"modified":"2024-12-02T16:24:30","modified_gmt":"2024-12-02T08:24:30","slug":"2024-12-02-icaa24-%e7%aa%81%e7%a0%b4%e6%80%a7%e8%b7%af%e5%be%84%e8%a7%84%e5%88%92%e7%ae%97%e6%b3%95%ef%bc%81shrinking-pomcp%ef%bc%9a%e4%bb%8e%e9%a9%ac%e5%b0%94%e5%8f%af%e5%a4%ab%e5%86%b3%e7%ad%96","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/02\/20537\/","title":{"rendered":"2024-12-02 ICAA&#8217;24 \u7a81\u7834\u6027\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff01Shrinking POMCP\uff1a\u4ece\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u66f4\u65b0\u5230\u9ad8\u6548\u51b3\u7b56"},"content":{"rendered":"\n<p>\u8fd9\u7bc7\u6587\u7ae0\u63d0\u51fa\u4e86\u4e00\u79cd\u4f18\u5316\u7684\u65e0\u4eba\u673a\u641c\u7d22\u4e0e\u6551\u63f4\u8def\u5f84\u89c4\u5212\u65b9\u6cd5\uff0c\u57fa\u4e8ePOMDP\uff08\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff09\u6a21\u578b\uff0c\u7ed3\u5408Shrinking POMCP\u7b97\u6cd5\uff0c\u65e8\u5728\u63d0\u9ad8\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u51b3\u7b56\u6548\u7387\u3002\u6587\u7ae0\u901a\u8fc7\u5728AirSim\u548cROS2\u4eff\u771f\u5e73\u53f0\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u8bc4\u4f30\u4e86\u4e0d\u540c\u4fe1\u5ff5\u7c7b\u578b\u4e0b\u7b97\u6cd5\u7684\u8868\u73b0\uff0c\u5e76\u4e0e\u73b0\u6709\u7684MCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cShrinking POMCP\u7b97\u6cd5\u5728\u6240\u6709\u4fe1\u5ff5\u573a\u666f\u4e0b\u5747\u663e\u8457\u51cf\u5c11\u4e86\u51b3\u7b56\u5468\u671f\u6570\uff0c\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u6548\u7387\uff0c\u7279\u522b\u662f\u5728\u590d\u6742\u7684\u4fe1\u5ff5\u5206\u5e03\uff08\u5982\u7a00\u758f\u4fe1\u5ff5\uff09\u4e0b\uff0c\u80fd\u591f\u6709\u6548\u4f18\u5316\u8def\u5f84\u89c4\u5212\uff0c\u63d0\u5347\u641c\u7d22\u4e0e\u6551\u63f4\u4efb\u52a1\u7684\u6267\u884c\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/NtpYSl5mfPU3cQykRpb8tQ\" target=\"_blank\" rel=\"noreferrer noopener\">ICAA&#8217;24 \u7a81\u7834\u6027\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff01Shrinking POMCP\uff1a\u4ece\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u66f4\u65b0\u5230\u9ad8\u6548\u51b3\u7b56\uff01<\/a><\/p>\n\n\n\n<p>\u4e0b\u9762\u4e00\u8d77\u6765\u9605\u8bfb\u4e00\u4e0b\u8fd9\u9879\u5de5\u4f5c~<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>1. \u8bba\u6587\u4fe1\u606f<\/strong><\/h2>\n\n\n\n<p>\u8bba\u6587\u9898\u76ee\uff1aMini-Splatting2: Building 360 Scenes within Minutes via Aggressive Gaussian Densification<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aGuangchi Fang, Bing Wang<\/p>\n\n\n\n<p>\u4f5c\u8005\u673a\u6784\uff1aThe Hong Kong Polytechnic University<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2411.12788\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2411.12788<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2. \u6458\u8981<\/strong><\/h2>\n\n\n\n<p>\u5728\u641c\u6551\u4efb\u52a1\u4e2d\uff0c\u65e0\u4eba\u673a\u8def\u5f84\u4f18\u5316\u9762\u4e34\u7740\u8bf8\u591a\u6311\u6218\uff0c\u5305\u62ec\u6709\u9650\u7684\u53ef\u89c1\u6027\u3001\u65f6\u95f4\u7ea6\u675f\u548c\u590d\u6742\u7684\u57ce\u5e02\u73af\u5883\u4fe1\u606f\u91c7\u96c6\u95ee\u9898\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7efc\u5408\u65b9\u6cd5\uff0c\u901a\u8fc7\u5229\u75283D AirSim-ROS2\u6a21\u62df\u5668\u548c2D\u6a21\u62df\u5668\u6765\u4f18\u5316\u57fa\u4e8e\u65e0\u4eba\u673a\u7684\u90bb\u91cc\u533a\u57df\u641c\u6551\u64cd\u4f5c\u3002\u8def\u5f84\u89c4\u5212\u95ee\u9898\u88ab\u5f62\u5f0f\u5316\u4e3a\u90e8\u5206\u53ef\u89c2\u5bdf\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08POMDP\uff09\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u201cShrinking POMCP\u201d\u65b9\u6cd5\u4ee5\u5e94\u5bf9\u65f6\u95f4\u7ea6\u675f\u3002\u5728AirSim\u73af\u5883\u4e2d\uff0c\u6211\u4eec\u5c06\u8be5\u65b9\u6cd5\u4e0e\u7528\u4e8e\u4fe1\u5ff5\u7ef4\u62a4\u7684\u6982\u7387\u4e16\u754c\u6a21\u578b\u548c\u7528\u4e8e\u907f\u969c\u7684\u795e\u7ecf\u7b26\u53f7\u5bfc\u822a\u5668\u96c6\u6210\u30022D\u6a21\u62df\u5668\u91c7\u7528\u5177\u6709\u7b49\u6548\u529f\u80fd\u7684\u66ff\u4ee3ROS2\u8282\u70b9\u3002\u6211\u4eec\u57282D\u6a21\u62df\u5668\u4e2d\u6bd4\u8f83\u4e86\u4e0d\u540c\u65b9\u6cd5\u751f\u6210\u7684\u8f68\u8ff9\uff0c\u5e76\u57283D AirSim-ROS\u6a21\u62df\u5668\u4e2d\u8bc4\u4f30\u4e86\u4e0d\u540c\u4fe1\u5ff5\u7c7b\u578b\u4e0b\u7684\u6027\u80fd\u3002\u6765\u81ea\u4e24\u4e2a\u6a21\u62df\u5668\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u66ff\u4ee3\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684Shrinking POMCP\u89e3\u51b3\u65b9\u6848\u5728\u641c\u7d22\u65f6\u95f4\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u6539\u8fdb\uff0c\u5c55\u793a\u4e86\u5176\u5728\u63d0\u5347\u65e0\u4eba\u673a\u8f85\u52a9\u641c\u6551\u4efb\u52a1\u6548\u7387\u65b9\u9762\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"562\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-2.jpeg\" alt=\"\" class=\"wp-image-20538\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-2.jpeg 562w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-2-300x201.jpeg 300w\" sizes=\"(max-width: 562px) 100vw, 562px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3. \u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p>\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u533a\u57df\u641c\u7d22\u4f7f\u547d\u7684X-Y\u91cc\u7a0b\u56fe\uff08\u4e1c\u5317\u5411\u4e0b\u5750\u6807\uff09\uff0c\u663e\u793a\u65e0\u4eba\u673a\u7684\u8def\u5f84\uff08\u9ec4\u8272\uff09\u3001\u5730\u9762\u771f\u5b9e\u76ee\u6807\uff08\u516d\u8fb9\u5f62\uff09\u3001\u63a2\u6d4b\u5230\u7684\u76ee\u6807\uff08\u7f16\u53f7\u5706\u5708\uff09\u3001\u7981\u98de\u533a\uff08\u7ea2\u8272\uff09\u3001\u5efa\u7b51\u7269\uff08\u7070\u8272\uff09\u548c\u641c\u7d22\u533a\u57df\uff08\u7eff\u8272\uff09\u3002\u56fe\u4f8b\u5217\u51fa\u4e86\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u53ca\u5176\u6982\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"552\" height=\"616\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-7.jpeg\" alt=\"\" class=\"wp-image-20541\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-7.jpeg 552w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-7-269x300.jpeg 269w\" sizes=\"(max-width: 552px) 100vw, 552px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>4. \u4e3b\u8981\u8d21\u732e<\/strong><\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4f18\u5316\u7684\u65e0\u4eba\u673a\u641c\u7d22\u4e0e\u6551\u63f4\u65b9\u6cd5\uff1a<\/strong> \u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u4f18\u5316\u7684\u57fa\u4e8e\u65e0\u4eba\u673a\uff08UAV\uff09\u7684\u90bb\u57df\u641c\u7d22\u4e0e\u6551\u63f4\u65b9\u6cd5\uff0c\u7ed3\u5408\u4e86\u771f\u5b9e\u73af\u5883\u6a21\u62df\u4e0e\u8def\u5f84\u89c4\u5212\u95ee\u9898\u7684\u6570\u5b66\u5efa\u6a21\u3002\u6211\u4eec\u5229\u7528AirSim\u548cROS2\u5f00\u53d1\u4e86\u4e00\u4e2a\u771f\u5b9e\u7684\u6a21\u62df\u5668\uff0c\u5e76\u5c06\u8def\u5f84\u89c4\u5212\u95ee\u9898\u5f62\u5f0f\u5316\u4e3a\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u79d1\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08POMDP\uff09\uff0c\u4ee5\u5e94\u5bf9\u590d\u6742\u7684\u73af\u5883\u548c\u65f6\u95f4\u9650\u5236\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>Shrinking POMCP\u65b9\u6cd5\u7684\u63d0\u51fa\uff1a<\/strong> \u63d0\u51fa\u4e86Shrinking POMCP\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86\u9ad8\u6982\u7387\u96c6\u4e2d\u533a\u57df\u7684\u65f6\u95f4\u7ea6\u675f\u95ee\u9898\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u6709\u6548\u7684\u4fe1\u5ff5\u5206\u5e03\u66f4\u65b0\uff0c\u80fd\u591f\u6839\u636e\u73af\u5883\u7684\u4e0d\u540c\u5148\u9a8c\u77e5\u8bc6\uff0c\u52a8\u6001\u8c03\u6574\u8def\u5f84\u89c4\u5212\u7b56\u7565\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u641c\u7d22\u4e0e\u6551\u63f4\u4efb\u52a1\u7684\u6548\u7387\u3002<\/li>\n\n\n\n<li><strong>\u8d85\u53c2\u6570\u4f18\u5316\u4e0e\u6027\u80fd\u8bc4\u4f30\uff1a<\/strong> \u6211\u4eec\u8fdb\u884c\u4e86\u5168\u9762\u7684\u8d85\u53c2\u6570\u641c\u7d22\uff0c\u8bc4\u4f30\u4e86\u4e0d\u540c\u6298\u6263\u56e0\u5b50\u548c\u5956\u52b1alpha\u503c\u7ec4\u5408\u5bf9\u6846\u67b6\u6027\u80fd\u7684\u5f71\u54cd\u3002\u901a\u8fc7\u5728\u5747\u5300\u4fe1\u5ff5\u3001\u5355\u5cf0\u4fe1\u5ff5\u548c\u4e09\u5cf0\u4fe1\u5ff5\u7b49\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u5b9e\u9a8c\uff0c\u627e\u5230\u4e86\u6700\u4f73\u7684\u8d85\u53c2\u6570\u8bbe\u7f6e\uff0c\u5e76\u786e\u4fdd\u5728\u4e0d\u540c\u6a21\u62df\u73af\u5883\u4e2d\u8868\u73b0\u4e00\u81f4\u3002<\/li>\n\n\n\n<li><strong>\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u5bf9\u6bd4\uff1a<\/strong> \u4e0eMCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\u7b49\u4f20\u7edf\u65b9\u6cd5\u8fdb\u884c\u4e86\u6027\u80fd\u5bf9\u6bd4\u3002\u7ed3\u679c\u8868\u660e\uff0cShrinking POMCP\u65b9\u6cd5\u663e\u8457\u51cf\u5c11\u4e86\u627e\u5230\u6240\u6709\u76ee\u6807\u6240\u9700\u7684\u51b3\u7b56\u5468\u671f\u6570\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u6548\u7387\u4e0a\u7684\u4f18\u52bf\u3002\u5176\u5173\u952e\u4f18\u52bf\u5728\u4e8e\u6bcf\u4e2a\u51b3\u7b56\u5468\u671f\u8f93\u51fa\u52a8\u4f5c\u5e8f\u5217\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u5bfc\u822a\u548c\u89c4\u5212\u7684\u7075\u6d3b\u6027\u3002<\/li>\n\n\n\n<li><strong>\u7edf\u4e00\u7684\u5b9e\u9a8c\u5e73\u53f0\uff1a<\/strong> \u901a\u8fc7\u57282D\u73af\u5883\u548cAirSim\u73af\u5883\u4e2d\u7edf\u4e00\u4f7f\u7528\u6700\u4f73\u8d85\u53c2\u6570\u7ec4\u5408\uff0c\u786e\u4fdd\u4e86\u4e0d\u540c\u6a21\u62df\u5e73\u53f0\u4e0a\u7684\u6807\u51c6\u5316\u65b9\u6cd5\uff0c\u5e76\u63d0\u4f9b\u4e86\u5bf9\u4e0d\u540c\u73af\u5883\u4e0b\u641c\u7d22\u4e0e\u6551\u63f4\u4efb\u52a1\u7684\u53ef\u9760\u8bc4\u4f30\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>5. \u57fa\u672c\u539f\u7406\u662f\u5565\uff1f<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684\u4f18\u5316\u65b9\u6cd5\u57fa\u4e8e\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u79d1\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08POMDP\uff09\u6a21\u578b\uff0c\u5e76\u901a\u8fc7<strong>Shrinking POMCP\uff08Shrinking Partially Observable Monte Carlo Planning\uff09<\/strong>\u65b9\u6cd5\u8fdb\u884c\u6c42\u89e3\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u79d1\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08POMDP\uff09\uff1a<\/strong><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>POMDP\u662f\u4e00\u79cd\u5904\u7406\u90e8\u5206\u53ef\u89c2\u6d4b\u73af\u5883\u4e0b\u51b3\u7b56\u95ee\u9898\u7684\u6570\u5b66\u6846\u67b6\u3002\u5728\u6b64\u6846\u67b6\u4e0b\uff0c\u667a\u80fd\u4f53\u65e0\u6cd5\u5b8c\u5168\u89c2\u5bdf\u5230\u73af\u5883\u7684\u72b6\u6001\uff0c\u800c\u662f\u4f9d\u8d56\u4e8e\u6765\u81ea\u73af\u5883\u7684\u89c2\u5bdf\uff08belief\uff09\u6765\u63a8\u65ad\u5f53\u524d\u72b6\u6001\u3002\u51b3\u7b56\u8fc7\u7a0b\u7684\u76ee\u6807\u662f\u57fa\u4e8e\u5f53\u524d\u7684\u4fe1\u5ff5\uff08belief state\uff09\u9009\u62e9\u6700\u4f18\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li>\u672c\u6587\u5c06\u65e0\u4eba\u673a\u641c\u7d22\u4e0e\u6551\u63f4\u4efb\u52a1\u5efa\u6a21\u4e3a\u4e00\u4e2aPOMDP\u95ee\u9898\uff0c\u667a\u80fd\u4f53\uff08\u65e0\u4eba\u673a\uff09\u6839\u636e\u5176\u5bf9\u73af\u5883\u7684\u90e8\u5206\u89c2\u6d4b\u4fe1\u606f\uff08\u5982\u76ee\u6807\u4f4d\u7f6e\u7684\u6982\u7387\u5206\u5e03\uff09\u6765\u8fdb\u884c\u8def\u5f84\u89c4\u5212\u548c\u51b3\u7b56\u3002<\/li>\n<\/ul>\n\n\n\n<p>2. <strong>Shrinking POMCP\u65b9\u6cd5\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Shrinking POMCP\u662f\u672c\u6587\u63d0\u51fa\u7684\u4e00\u79cd\u57fa\u4e8e\u8499\u7279\u5361\u7f57\u6811\u641c\u7d22\uff08MCTS\uff09\u7684\u6539\u8fdb\u65b9\u6cd5\u3002\u5176\u6838\u5fc3\u601d\u60f3\u662f\u901a\u8fc7\u7f29\u5c0f\u641c\u7d22\u7a7a\u95f4\u548c\u9010\u6b65\u66f4\u65b0\u4fe1\u5ff5\u5206\u5e03\u6765\u63d0\u9ad8\u51b3\u7b56\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u5728\u6bcf\u4e2a\u51b3\u7b56\u5468\u671f\uff0cShrinking POMCP\u65b9\u6cd5\u4e0d\u76f4\u63a5\u8f93\u51fa\u4e00\u4e2a\u5355\u4e00\u7684\u52a8\u4f5c\uff0c\u800c\u662f\u8f93\u51fa\u4e00\u4e2a\u52a8\u4f5c\u5e8f\u5217\u3002\u8fd9\u4f7f\u5f97\u667a\u80fd\u4f53\u80fd\u591f\u66f4\u52a0\u7075\u6d3b\u5730\u89c4\u5212\u8def\u5f84\uff0c\u907f\u514d\u4e86\u4ec5\u4f9d\u8d56\u5355\u4e00\u52a8\u4f5c\u53ef\u80fd\u5bfc\u81f4\u7684\u6548\u7387\u4f4e\u4e0b\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u8be5\u65b9\u6cd5\u7279\u522b\u9002\u7528\u4e8e\u9ad8\u6982\u7387\u96c6\u4e2d\u533a\u57df\u7684\u65f6\u95f4\u7ea6\u675f\u95ee\u9898\uff0c\u53ef\u4ee5\u66f4\u6709\u6548\u5730\u63a2\u7d22\u548c\u5229\u7528\u9ad8\u4f18\u5148\u7ea7\u7684\u533a\u57df\uff0c\u4ece\u800c\u63d0\u9ad8\u641c\u7d22\u6548\u7387\u3002\u63a8\u8350\u8bfe\u7a0b\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s%3F__biz%3DMzU1MjY4MTA1MQ%3D%3D%26mid%3D2247689966%26idx%3D5%26sn%3D436fd72f22ee4f8a5062fcd08cc00b7c%26scene%3D21%23wechat_redirect\" target=\"_blank\" rel=\"noreferrer noopener\">\u5982\u4f55\u5feb\u901f\u4e0a\u624b\u5168\u7403\u6700\u5f3a\u5f00\u6e90\u98de\u63a7px4\uff1f<\/a><\/li>\n<\/ul>\n\n\n\n<p>3. <strong>\u8d85\u53c2\u6570\u4f18\u5316\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728POMDP\u6c42\u89e3\u8fc7\u7a0b\u4e2d\uff0c\u6298\u6263\u56e0\u5b50\uff08discount factor\uff09\u548c\u5956\u52b1\u53c2\u6570\uff08reward alpha\uff09\u5bf9\u7b97\u6cd5\u7684\u8868\u73b0\u6709\u663e\u8457\u5f71\u54cd\u3002\u901a\u8fc7\u5bf9\u4e0d\u540c\u6298\u6263\u56e0\u5b50\u548c\u5956\u52b1\u53c2\u6570\u7ec4\u5408\u7684\u5168\u9762\u641c\u7d22\uff0c\u9009\u62e9\u6700\u4f73\u7684\u8d85\u53c2\u6570\u8bbe\u7f6e\uff0c\u4f7f\u5f97\u65b9\u6cd5\u5728\u5404\u79cd\u73af\u5883\u4e0b\u80fd\u591f\u8868\u73b0\u51fa\u6700\u4f73\u7684\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u672c\u6587\u7684\u8d85\u53c2\u6570\u641c\u7d22\u5305\u62ec\u4e0d\u540c\u7684\u4fe1\u5ff5\u7c7b\u578b\u573a\u666f\uff08\u5982\u5747\u5300\u4fe1\u5ff5\u3001\u5355\u5cf0\u4fe1\u5ff5\u548c\u4e09\u5cf0\u4fe1\u5ff5\uff09\uff0c\u5e76\u901a\u8fc7\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u4e0d\u540c\u7ec4\u5408\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u3002<\/li>\n<\/ul>\n\n\n\n<p>4. <strong>\u73af\u5883\u6a21\u62df\u4e0e\u5b9e\u9a8c\u5e73\u53f0\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u672c\u6587\u4f7f\u7528AirSim\u548cROS2\u5f00\u53d1\u4e86\u4e00\u4e2a\u771f\u5b9e\u7684\u6a21\u62df\u73af\u5883\u6765\u8fdb\u884c\u65e0\u4eba\u673a\u8def\u5f84\u89c4\u5212\u7684\u6d4b\u8bd5\u3002AirSim\u63d0\u4f9b\u4e86\u4e00\u4e2a\u865a\u62df\u76843D\u73af\u5883\uff0c\u80fd\u591f\u6a21\u62df\u4e0d\u540c\u5929\u6c14\u548c\u5730\u5f62\u6761\u4ef6\u4e0b\u7684\u98de\u884c\u4efb\u52a1\uff0cROS2\u5219\u8d1f\u8d23\u65e0\u4eba\u673a\u7684\u63a7\u5236\u548c\u4efb\u52a1\u8c03\u5ea6\u3002<\/li>\n\n\n\n<li>\u5728\u5b9e\u9a8c\u4e2d\uff0c\u672c\u6587\u5c06\u4e0d\u540c\u4fe1\u5ff5\u5206\u5e03\u4e0b\u7684\u4efb\u52a1\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u5e76\u4e0e\u73b0\u6709\u7684MCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u8bc1\u660e\u4e86Shrinking POMCP\u65b9\u6cd5\u5728\u6548\u7387\u4e0a\u7684\u4f18\u52bf\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"544\" height=\"270\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-3.jpeg\" alt=\"\" class=\"wp-image-20539\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-3.jpeg 544w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-3-300x149.jpeg 300w\" sizes=\"(max-width: 544px) 100vw, 544px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"575\" height=\"659\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-4.jpeg\" alt=\"\" class=\"wp-image-20540\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-4.jpeg 575w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-4-262x300.jpeg 262w\" sizes=\"(max-width: 575px) 100vw, 575px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>6. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u5b9e\u9a8c\u90e8\u5206\u4e3b\u8981\u901a\u8fc7\u5bf9\u6bd4\u4e0d\u540c\u7684\u4fe1\u5ff5\u7c7b\u578b\u548c\u7b97\u6cd5\u65b9\u6cd5\uff0c\u9a8c\u8bc1\u4e86Shrinking POMCP\u65b9\u6cd5\u5728\u65e0\u4eba\u673a\u641c\u7d22\u4e0e\u6551\u63f4\u4efb\u52a1\u4e2d\u7684\u8868\u73b0\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8d85\u53c2\u6570\u4f18\u5316\u5b9e\u9a8c\uff1a<\/strong><br>\u57fa\u4e8e\u8fd9\u4e9b\u5b9e\u9a8c\u7ed3\u679c\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u9002\u5408\u6bcf\u79cd\u4fe1\u5ff5\u7c7b\u578b\u7684\u6700\u4f73\u8d85\u53c2\u6570\u7ec4\u5408\uff0c\u5e76\u5728\u540e\u7eed\u7684\u5b9e\u9a8c\u4e2d\u5e94\u7528\u4e86\u8fd9\u4e9b\u6700\u4f18\u7684\u8d85\u53c2\u6570\u8bbe\u7f6e\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u4e0d\u540c\u7684\u4fe1\u5ff5\u573a\u666f\u4e0b\uff08\u5747\u5300\u4fe1\u5ff5\u3001\u5355\u5cf0\u7a00\u758f\u4fe1\u5ff5\u3001\u4e09\u5cf0\u7a00\u758f\u4fe1\u5ff5\uff09\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u8d85\u53c2\u6570\u7684\u5168\u9762\u641c\u7d22\uff0c\u6d4b\u8bd5\u4e86\u6298\u6263\u56e0\u5b50\uff080.8\u30010.9\u30010.995\uff09\u548c\u5956\u52b1\u7cfb\u6570\uff080\u30011\u300110\uff09\u7684\u4e0d\u540c\u7ec4\u5408\u3002<\/li>\n\n\n\n<li><strong>\u5747\u5300\u4fe1\u5ff5\u573a\u666f<\/strong>\uff1a\u5b9e\u9a8c\u8868\u660e\uff0c\u5728\u5747\u5300\u5206\u5e03\u7684\u4fe1\u5ff5\u573a\u666f\u4e2d\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\uff080.995\uff09\u901a\u5e38\u80fd\u53d6\u5f97\u66f4\u597d\u7684\u8868\u73b0\uff0c\u8bf4\u660e\u5728\u5747\u5300\u5206\u5e03\u7684\u4fe1\u5ff5\u573a\u666f\u4e0b\uff0c\u8003\u8651\u957f\u671f\u5956\u52b1\u80fd\u63d0\u9ad8\u51b3\u7b56\u6548\u7387\u3002<\/li>\n\n\n\n<li><strong>\u5355\u5cf0\u7a00\u758f\u4fe1\u5ff5\u573a\u666f<\/strong>\uff1a\u7c7b\u4f3c\u4e8e\u5747\u5300\u4fe1\u5ff5\u573a\u666f\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\u4e5f\u901a\u5e38\u8868\u73b0\u8f83\u597d\u3002\u8fd9\u8868\u660e\uff0c\u5c3d\u7ba1\u4fe1\u5ff5\u5206\u5e03\u5b58\u5728\u7a00\u758f\u6027\uff0c\u4f46\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\u4ecd\u80fd\u5e2e\u52a9\u7b97\u6cd5\u4f5c\u51fa\u66f4\u5408\u7406\u7684\u51b3\u7b56\u3002<\/li>\n\n\n\n<li><strong>\u4e09\u5cf0\u7a00\u758f\u4fe1\u5ff5\u573a\u666f<\/strong>\uff1a\u5728\u6b64\u573a\u666f\u4e2d\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\u4e0e\u8f83\u9ad8\u7684\u5956\u52b1\u7cfb\u6570\uff08\u4f8b\u5982\u5956\u52b1\u7cfb\u6570\u4e3a10\uff09\u7ed3\u5408\u8868\u73b0\u6700\u4f73\uff0c\u8bf4\u660e\u5728\u5177\u6709\u591a\u4e2a\u9ad8\u6982\u7387\u533a\u57df\u7684\u590d\u6742\u4fe1\u5ff5\u5206\u5e03\u4e2d\uff0c\u7ed3\u5408\u957f\u671f\u89c4\u5212\uff08\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\uff09\u4e0e\u5373\u65f6\u5956\u52b1\uff08\u8f83\u9ad8\u7684\u5956\u52b1\u7cfb\u6570\uff09\u80fd\u63d0\u9ad8\u7b97\u6cd5\u7684\u8868\u73b0\u3002<\/li>\n<\/ul>\n\n\n\n<p>2. <strong>Shrinking POMCP\u4e0e\u5176\u4ed6\u7b97\u6cd5\u7684\u5bf9\u6bd4\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b9e\u9a8c\u5bf9\u6bd4<\/strong>\uff1a\u5728\u4e0d\u540c\u4fe1\u5ff5\u7c7b\u578b\uff08\u5747\u5300\u4fe1\u5ff5\u3001\u5355\u5cf0\u7a00\u758f\u4fe1\u5ff5\uff09\u4e0b\uff0c\u6211\u4eec\u5c06Shrinking POMCP\u65b9\u6cd5\u4e0e\u73b0\u6709\u7684\u4e09\u79cd\u57fa\u51c6\u7b97\u6cd5\uff08MCTS\u3001Lawnmower\u3001\u8d2a\u5a6a\u7b97\u6cd5\uff09\u8fdb\u884c\u4e86\u6027\u80fd\u5bf9\u6bd4\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong>\uff1a\u5982\u56fe5\u6240\u793a\uff0cShrinking POMCP\u65b9\u6cd5\u5728\u6240\u6709\u4fe1\u5ff5\u7c7b\u578b\u4e0b\u90fd\u663e\u8457\u51cf\u5c11\u4e86\u51b3\u7b56\u5468\u671f\u6570\uff0c\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u6548\u7387\u3002\u5177\u4f53\u800c\u8a00\uff0cShrinking POMCP\u5728\u5747\u5300\u4fe1\u5ff5\u548c\u5355\u5cf0\u7a00\u758f\u4fe1\u5ff5\u573a\u666f\u4e2d\uff0c\u6240\u9700\u7684\u51b3\u7b56\u5468\u671f\u6570\u8fdc\u5c11\u4e8eMCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\u3002\u8fd9\u8868\u660e\uff0cShrinking POMCP\u5728\u8fd9\u4e9b\u60c5\u51b5\u4e0b\u80fd\u591f\u66f4\u9ad8\u6548\u5730\u627e\u5230\u76ee\u6807\u4f4d\u7f6e\u3002<\/li>\n\n\n\n<li><strong>\u4f18\u52bf\u5206\u6790<\/strong>\uff1aShrinking POMCP\u7684\u5173\u952e\u4f18\u52bf\u5728\u4e8e\u5176\u80fd\u591f\u5728\u6bcf\u4e2a\u51b3\u7b56\u5468\u671f\u8f93\u51fa\u4e00\u4e2a\u52a8\u4f5c\u5e8f\u5217\uff0c\u800c\u4e0d\u662f\u5355\u4e00\u7684\u52a8\u4f5c\u3002\u8fd9\u4f7f\u5f97\u65e0\u4eba\u673a\u80fd\u591f\u66f4\u7075\u6d3b\u5730\u5bfc\u822a\u5230\u4e0b\u4e00\u4e2a\u6700\u4f18\u7684\u975e\u7a00\u758f\u533a\u57df\uff0c\u8fdb\u884c\u66f4\u6709\u6548\u7684\u8def\u5f84\u89c4\u5212\uff0c\u4ece\u800c\u51cf\u5c11\u4e86\u51b3\u7b56\u5468\u671f\u7684\u6570\u91cf\uff0c\u5e76\u63d0\u9ad8\u4e86\u6574\u4f53\u4efb\u52a1\u7684\u5b8c\u6210\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p>3. <strong>\u5b9e\u9a8c\u5e73\u53f0\u4e0e\u73af\u5883\u8bbe\u7f6e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>AirSim\u4e0eROS2<\/strong>\uff1a\u6240\u6709\u7684\u5b9e\u9a8c\u5747\u5728\u4e00\u4e2a\u771f\u5b9e\u7684\u6a21\u62df\u73af\u5883\u4e2d\u8fdb\u884c\uff0c\u4f7f\u7528AirSim\u548cROS2\u8fdb\u884c\u4eff\u771f\u3002AirSim\u4e3a\u6211\u4eec\u63d0\u4f9b\u4e86\u4e00\u4e2a\u865a\u62df\u76843D\u73af\u5883\uff0c\u6a21\u62df\u4e0d\u540c\u7684\u5929\u6c14\u548c\u5730\u5f62\u6761\u4ef6\uff0cROS2\u5219\u8d1f\u8d23\u63a7\u5236\u65e0\u4eba\u673a\u7684\u52a8\u4f5c\u548c\u8c03\u5ea6\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u5728\u8fd9\u4e9b\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u6d4b\u8bd5\u4e86\u4e0d\u540c\u4fe1\u5ff5\u5206\u5e03\u4e0b\u7684\u8def\u5f84\u89c4\u5212\u6548\u679c\uff0c\u5e76\u4f7f\u7528\u4e0a\u8ff0\u7684\u4e0d\u540c\u7b97\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u7ed3\u679c\u8868\u660eShrinking POMCP\u65b9\u6cd5\u5728\u5404\u79cd\u73af\u5883\u548c\u4fe1\u5ff5\u7c7b\u578b\u4e0b\u90fd\u8868\u73b0\u51fa\u8f83\u9ad8\u7684\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p>4. <strong>\u6027\u80fd\u6307\u6807\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u51b3\u7b56\u5468\u671f\u6570<\/strong>\uff1a\u6240\u6709\u5b9e\u9a8c\u4e2d\uff0cShrinking POMCP\u65b9\u6cd5\u6240\u9700\u7684\u51b3\u7b56\u5468\u671f\u6570\u5747\u5c11\u4e8e\u5176\u4ed6\u7b97\u6cd5\u3002\u8be5\u6307\u6807\u53cd\u6620\u4e86\u6bcf\u79cd\u65b9\u6cd5\u89e3\u51b3\u95ee\u9898\u7684\u6548\u7387\uff0cShrinking POMCP\u660e\u663e\u4f18\u4e8eMCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u5b8c\u6210\u65f6\u95f4<\/strong>\uff1aShrinking POMCP\u65b9\u6cd5\u901a\u8fc7\u51cf\u5c11\u51b3\u7b56\u5468\u671f\u7684\u6570\u91cf\uff0c\u6709\u6548\u964d\u4f4e\u4e86\u4efb\u52a1\u5b8c\u6210\u7684\u603b\u4f53\u65f6\u95f4\uff0c\u7279\u522b\u662f\u5728\u590d\u6742\u7684\u4fe1\u5ff5\u5206\u5e03\u4e0b\uff08\u5982\u4e09\u5cf0\u7a00\u758f\u4fe1\u5ff5\u573a\u666f\uff09\uff0c\u8868\u73b0\u5c24\u4e3a\u7a81\u51fa\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"571\" height=\"399\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-6.jpeg\" alt=\"\" class=\"wp-image-20543\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-6.jpeg 571w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-6-300x210.jpeg 300w\" sizes=\"(max-width: 571px) 100vw, 571px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"531\" height=\"412\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-5.jpeg\" alt=\"\" class=\"wp-image-20542\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-5.jpeg 531w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-5-300x233.jpeg 300w\" sizes=\"(max-width: 531px) 100vw, 531px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"385\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-9.jpeg\" alt=\"\" class=\"wp-image-20545\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-9.jpeg 550w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-9-300x210.jpeg 300w\" sizes=\"(max-width: 550px) 100vw, 550px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"569\" height=\"553\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/image-8.jpeg\" alt=\"\" class=\"wp-image-20544\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-8.jpeg 569w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/image-8-300x292.jpeg 300w\" sizes=\"(max-width: 569px) 100vw, 569px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>7. \u603b\u7ed3 &amp; \u672a\u6765\u5de5\u4f5c<\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u9488\u5bf9\u57fa\u4e8e\u65e0\u4eba\u673a\uff08UAV\uff09\u7684\u90bb\u57df\u641c\u7d22\u4e0e\u6551\u63f4\u64cd\u4f5c\u7684\u4f18\u5316\u65b9\u6cd5\u3002\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u4e2a\u4f7f\u7528AirSim\u548cROS2\u7684\u771f\u5b9e\u6a21\u62df\u5668\uff0c\u5e76\u5c06\u8def\u5f84\u89c4\u5212\u95ee\u9898\u8868\u8ff0\u4e3a\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u79d1\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08POMDP\uff09\u3002\u6211\u4eec\u7684Shrinking POMCP\u65b9\u6cd5\u89e3\u51b3\u4e86\u65f6\u95f4\u9650\u5236\u548c\u9ad8\u6982\u7387\u96c6\u4e2d\u533a\u57df\u7684\u95ee\u9898\u3002\u5728\u6240\u6709\u573a\u666f\u4e2d\uff0c\u4fe1\u5ff5\u5206\u5e03\u4f1a\u968f\u7740\u5bf9\u73af\u5883\u5148\u9a8c\u77e5\u8bc6\u7684\u4e0d\u540c\u6c34\u5e73\u53d8\u5316\u800c\u6539\u53d8\u3002<\/p>\n\n\n\n<p><strong>\u8d85\u53c2\u6570\u641c\u7d22\uff1a<\/strong><br>\u6211\u4eec\u8fdb\u884c\u4e86\u5168\u9762\u7684\u8d85\u53c2\u6570\u641c\u7d22\uff0c\u4ee5\u8bc4\u4f30\u5728\u4e0d\u540c\u6761\u4ef6\u4e0b\u6846\u67b6\u7684\u8868\u73b0\uff0c\u5e76\u4e0e\u57fa\u51c6\u7b97\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u5b9e\u9a8c\u5728\u4e09\u79cd\u7c7b\u578b\u7684\u4fe1\u5ff5\u56fe\u4e0b\u8fdb\u884c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5747\u5300\u4fe1\u5ff5\u573a\u666f\uff1a<\/strong> \u5982\u8868I\u6240\u793a\uff0c\u5728\u5747\u5300\u4fe1\u5ff5\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u4e0d\u540c\u6298\u6263\u56e0\u5b50\uff080.8, 0.9, 0.995\uff09\u548c\u5956\u52b1alpha\u503c\uff080, 1, 10\uff09\u7684\u7ec4\u5408\u3002\u6027\u80fd\u5ea6\u91cf\u662f\u627e\u5230\u6240\u6709\u76ee\u6807\u6240\u9700\u7684\u51b3\u7b56\u5468\u671f\u6570\uff0c\u6700\u5927\u9650\u5236\u4e3a100\u4e2a\u5468\u671f\u3002\u7ed3\u679c\u8868\u660e\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\u901a\u5e38\u80fd\u5e26\u6765\u66f4\u597d\u7684\u8868\u73b0\u3002\u8fd9\u8868\u660e\uff0c\u5728\u5747\u5300\u5206\u5e03\u7684\u4fe1\u5ff5\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u7684\u6846\u67b6\u901a\u8fc7\u66f4\u52a0\u91cd\u89c6\u957f\u671f\u5956\u52b1\u800c\u83b7\u76ca\u3002<\/li>\n\n\n\n<li><strong>\u7a00\u758f\u4fe1\u5ff5\u5355\u5cf0\u573a\u666f\uff1a<\/strong> \u5982\u8868I\u6240\u793a\uff0c\u5728\u7a00\u758f\u4fe1\u5ff5\u5355\u5cf0\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u7c7b\u4f3c\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u3002\u4e0e\u5747\u5300\u4fe1\u5ff5\u7c7b\u4f3c\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\u901a\u5e38\u80fd\u5e26\u6765\u66f4\u597d\u7684\u8868\u73b0\u3002<\/li>\n\n\n\n<li><strong>\u7a00\u758f\u4fe1\u5ff5\u4e09\u5cf0\u573a\u666f\uff1a<\/strong> \u5728\u7a00\u758f\u4fe1\u5ff5\u4e09\u5cf0\u573a\u666f\u4e2d\uff0c\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\uff0c\u7279\u522b\u662f\u4e0e\u8f83\u9ad8\u7684\u5956\u52b1alpha\u503c\u7ed3\u5408\u65f6\uff0c\u8868\u660e\u6211\u4eec\u7684\u65b9\u6848\u5177\u6709\u66f4\u597d\u7684\u6027\u80fd\u3002\u8fd9\u8868\u660e\uff0c\u5728\u5177\u6709\u591a\u4e2a\u9ad8\u6982\u7387\u533a\u57df\u7684\u590d\u6742\u4fe1\u5ff5\u5206\u5e03\u4e2d\uff0c\u6211\u4eec\u7684\u6846\u67b6\u901a\u8fc7\u7ed3\u5408\u957f\u671f\u89c4\u5212\uff08\u8f83\u9ad8\u7684\u6298\u6263\u56e0\u5b50\uff09\u548c\u66f4\u5f3a\u70c8\u5173\u6ce8\u5373\u65f6\u5956\u52b1\uff08\u8f83\u9ad8\u7684\u5956\u52b1alpha\uff09\u6765\u83b7\u5f97\u4f18\u52bf\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u57fa\u4e8e\u8d85\u53c2\u6570\u641c\u7d22\u7684\u7ed3\u679c\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u6bcf\u79cd\u4fe1\u5ff5\u7c7b\u578b\u4e0b\u8868\u73b0\u6700\u4f73\u7684\u6298\u6263\u56e0\u5b50\u548c\u5956\u52b1alpha\u7ec4\u5408\u3002\u8fd9\u4e9b\u6700\u4f18\u8d85\u53c2\u6570\u503c\u5728\u6211\u4eec\u76842D\u73af\u5883\u548cAirSim\u73af\u5883\u5b9e\u9a8c\u4e2d\u4e00\u81f4\u4f7f\u7528\uff0c\u786e\u4fdd\u4e86\u4e0d\u540c\u6a21\u62df\u5e73\u53f0\u4e0a\u7684\u6807\u51c6\u5316\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><strong>Shrinking POMCP\u4e0e\u5176\u4ed6\u65b9\u6cd5\u7684\u6bd4\u8f83\uff1a<\/strong><br>Shrinking POMCP\u4e0e\u5176\u4ed6\u65b9\u6cd5\uff08MCTS\u3001Lawnmower\u548c\u8d2a\u5a6a\u7b97\u6cd5\uff09\u4e4b\u95f4\u7684\u6027\u80fd\u6bd4\u8f83\u663e\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u6548\u7387\u4e0a\u7684\u4f18\u52bf\u3002\u5982\u56fe5\u6240\u793a\uff0cShrinking\u65b9\u6cd5\u5728\u5747\u5300\u548c\u5355\u5cf0\u4fe1\u5ff5\u7c7b\u578b\u4e0b\uff0c\u59cb\u7ec8\u9700\u8981\u663e\u8457\u8f83\u5c11\u7684\u51b3\u7b56\u5468\u671f\u6765\u5b9a\u4f4d\u6240\u6709\u76ee\u6807\u3002\u6211\u4eecShrinking POMCP\u7684\u5173\u952e\u4f18\u52bf\u5728\u4e8e\uff0c\u5b83\u80fd\u591f\u5728\u6bcf\u4e2a\u51b3\u7b56\u5468\u671f\u8f93\u51fa\u4e00\u4e2a\u52a8\u4f5c\u5e8f\u5217\uff0c\u800c\u4e0d\u662f\u5355\u4e00\u7684\u52a8\u4f5c\u3002\u8fd9\u4f7f\u5f97\u4ee3\u7406\u80fd\u591f\u5728\u6bcf\u4e2a\u5468\u671f\u4e2d\u9ad8\u6548\u5730\u89c4\u5212\u5230\u4e0b\u4e00\u4e2a\u6700\u4f73\u7684\u975e\u7a00\u758f\u533a\u57df\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fd9\u7bc7\u6587\u7ae0\u63d0\u51fa\u4e86\u4e00\u79cd\u4f18\u5316\u7684\u65e0\u4eba\u673a\u641c\u7d22\u4e0e\u6551\u63f4\u8def\u5f84\u89c4 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-20537","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/20537"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=20537"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/20537\/revisions"}],"predecessor-version":[{"id":20547,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/20537\/revisions\/20547"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=20537"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=20537"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=20537"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}