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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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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.