StateEstimation.jl

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Section for CS238/AA228 Decision Making Under Uncertainty at Stanford University.

Belief state estimation in Pluto notebooks.

] dev https://github.com/sisl/StateEstimation.jl

Then open Julia, run using Pluto; Pluto.run(), and open notebooks in ~/.julia/dev/StateEstimation/src/.

Pluto notebooks

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Crying baby POMDP

<p align="center"> <kbd> <a href="http://htmlview.glitch.me/?https://raw.githubusercontent.com/sisl/StateEstimation.jl/master/html/crying_baby_problem.html"> <img src="./html/crying_baby_problem.svg"> </a> </kbd> </p>

• POMDPs.jl version located here

Kalman filtering

<p align="center"> <a href="http://htmlview.glitch.me/?https://raw.githubusercontent.com/sisl/StateEstimation.jl/master/html/kalman_filter.html"> <img src="./gif/kalman_filter.gif"> </a> </p>

Particle filtering

<p align="center"> <a href="http://htmlview.glitch.me/?https://raw.githubusercontent.com/sisl/StateEstimation.jl/master/html/particle_filter.html"> <img src="./gif/particle_filter.gif"> </a> </p> <!-- ## Exact belief state planning [](https://github.com/sisl/StateEstimation.jl) -->

Slides

Slides generated using julia-tufte-beamer and located here: Beliefs: State Uncertainty

<p align="center"> <kbd> <a href="https://github.com/mossr/julia-tufte-beamer/blob/aa228/beliefs/main.pdf"> <img src="./html/title.svg"> </a> </kbd> </p>

And the MDP to POMDP slides are located here: MDPs to POMDPs.pptx

<p align="center"> <kbd> <a href="slides/MDPs%20to%20POMDPs.pptx"> <img src="./slides/mdps-to-pomdps-slide.png"> </a> </kbd> </p>

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Written by Robert Moss.