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Approximate POMDP Planning (APPL) Toolkit

README (release 0.3, 15-Feb-2009) source code (Linux, Mac OS X) source code (Windows)

APPL is a C++ implementation of the SARSOP algorithm [1]. It takes in a POMDP model file in Tony Cassandra's POMDP file format and produces a policy file. It also contains a simple simulator for evaluating the quality of the computed policy. APPL has been tested on a number of large POMDPs with up to 15,000 states. More information is avalable here.


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References

H. Kurniawati, D. Hsu, and W.S. Lee. SARSOP: Efficient point-based POMDP planning by approximating optimally reachable belief spaces. In Proc. Robotics: Science and Systems, 2008.
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