Vectorized Online POMDP Planner (VOPP)

⚠️ This is an alpha release and the code may contain bugs.

This repository contains the source code for the paper.

Vectorized Online POMDP Planning [Paper]

by Marcus Hoerger, Muhammad Sudrajat, and Hanna Kurniawati.

Citation

If you use this repository in your research, please cite the paper as follows:

@inproceedings{hoerger2026VOPP,
  title={Vectorized Online POMDP Planning},
  author={Marcus Hoerger and Muhammad Sudrajat and Hanna Kurniawati},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2026},
  url={https://arxiv.org/abs/2510.27191}
}

Requirements

This project requires Python 3.11+ and the following packages:

• PyTorch >= 2.7.1
• Matplotlib >= 3.10
• NumPy >= 2.3
• PyYAML >= 6.0
• Ray >= 2.49
• SciPy >= 1.16

Installation

First, prepare a Conda environment and activate it via

conda create --name <MY_ENV_NAME> python=3.11
conda activate <MY_ENV_NAME>

Next, clone this repository and install its requirements via

git clone git@github.com/RDLLab/VOPP.git <VOPP_DIR>
pip install -r <VOPP_DIR>/requirements.txt

where <VOPP_DIR> is a directory of your choice.

Running VOPP

To run VOPP on the provided benchmark problems, activate your Conda environment and run

python <VOPP_DIR>/problem.py --config <VOPP_DIR>/configs/<PROBLEM_CONFIGURATION>.yaml

For instance, to solve the Multi-Agent Rocksample problem with VOPP, use

python <VOPP_DIR>/problem.py --config <VOPP_DIR>/configs/ma_rocksample.yaml