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20 Feb 2018: kA(a,a′) = δa(a. ′), (7). where δa(a′) = 1 iff a = a′, 0 otherwise.4.2. ... The kernelfunction between two sets of actions is. kA(aB,aE) = δaB(a.

13 Mar 2018: " #$ %&'() , -. /0 12 '34#$ 056 # 7. 8:9<;!=?>@BADCEGF19?H IKJDAL@NMOIKPRQTS-9U;!ADVUW3JLJXI3M. CZYALVGIK[]NAD>PBWQ?A_aP?b3>b3P?>[BAXI:Q?>Jdc MY>VGIK[]N>P1WKeFfPRb3ADP?>>[gADP?bJihj_aPRekW3[glInmADWKP?>1cpo1P?ALqK>[B@gALsrI(QRAutvAD>PGI

13 Mar 2018: " #$ %&'() , -. /0 12 '34#$ 056 # 7. 8:9<;!=?>@BADCEGF19?H IKJDAL@NMOIKPRQTS-9U;!ADVUW3JLJXI3M. CZYALVGIK[]NAD>PBWQ?A_aP?b3>b3P?>[BAXI:Q?>Jdc MY>VGIK[]N>P1WKeFfPRb3ADP?>>[gADP?bJihj_aPRekW3[glInmADWKP?>1cpo1P?ALqK>[B@gALsrI(QRAutvAD>PGI

20 Feb 2018: kA(a,a′). For a sequence of belief state-. action pairs Bt = [(b0,a0),. ... For the action space kernel, the δ-kernel is useddefined by:. kA(a,a′) = δa(a. ′).

20 Feb 2018: and action spaces kB(b,b′)kA(a,a′). ... kA(a,a′) = δa(a. ′) (5). where δa(a′) = 1 iff a = a′, 0 otherwise.

20 Feb 2018: and action spaces kB(b,b′)kA(a,a′). ... kA(a,a′) = δa(a. ′) (5). where δa(a′) = 1 iff a = a′, 0 otherwise.

20 Feb 2018: Q(b,a) GP (0,k((b,a), (b,a))) (2). where the kernel k(, ) is factored into separate kernels overbelief and action spaces kB(b,b′)kA(a,a′). ... kA(a,a′) = δa(a. ′) (7). where δa(a′) = 1 iff a = a′, 0 otherwise.

13 Mar 2018: ÃÄ-,90/ªÀ=4"!t4M9sÌ:4ÊtA%&Ì:C=90A'4<UKtæ4A'?&>-,"$+?A'Ê$&,&ÁÆ646A'ûtÀM&ADBAD/QCM#'&/&4<?&>5ÚÌ:Æ6A'ÁÆ8-?&>Á9sÊ0&-UX+,Æ6&/Q"wÉtAD/kÀ=/#%A#!w&#%ADÆM9t9M52&,? ... ÀM+:,&4A'?&-U"w+,A%9<46Ì}&-,&46&&56&58+?9ËE4658UÆM& /A'4MAD/kÀ=/K.

20 Feb 2018: k(b,a,b′,a′) = kB(b,b′)kA(a,a. ′). (3). In addition, if we assume additive noise in the Q-function, Q(b,a) N(0,σ2), the following ... kA(a,a′) = 1 δa(a′) (14). where δa(a′) = 1 iff a = a′.For the full-space systems, the kernel function

20 Feb 2018: 211. 2121. 1. aannna. annnnn. ka. rd (13). Here nr specifies the number of events that occurred r times and a fixed discounting factor was used if they are zero.

13 Mar 2018: ÃÄ-,90/ªÀ=4"!t4M9sÌ:4ÊtA%&Ì:C=90A'4<UKtæ4A'?&>-,"$+?A'Ê$&,&ÁÆ646A'ûtÀM&ADBAD/QCM#'&/&4<?&>5ÚÌ:Æ6A'ÁÆ8-?&>Á9sÊ0&-UX+,Æ6&/Q"wÉtAD/kÀ=/#%A#!w&#%ADÆM9t9M52&,? ... ÀM+:,&4A'?&-U"w+,A%9<46Ì}&-,&46&&56&58+?9ËE4658UÆM& /A'4MAD/kÀ=/K.

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20 Feb 2018: is factored into separate kernels over thesummary state and action spaces kC(c,c′)kA(a,a′).

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20 Feb 2018: function,Q(b, a) GP (0, k((b, a), (b, a))) wherethe kernelk(, ) is factored into separate kernels over thesummary state and action spaceskB(b, b)kA(a, a).

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13 Mar 2018: a keypoint kA in A which matches kBin B is kept if kB matches kA and vice versa).

20 Feb 2018: kA(a,a′). For a training sequence of belief state-action pairs B = [(b0,a0),. , ... kA(a,a′) = δa(a. ′) (6). where δa(a′) = 1 iff a = a′, 0 otherwise.