Search and Belief-Space Planning › Key Parameters
Michael BrenndoerferJuly 9, 20261 min read
World Models HandbookAll chapters Part 7 of 12Planning and Agency
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The key parameters for POMCP in this chapter are:
- n_sims: Number of simulations per plan. Determines how much of the belief tree is explored.
- c: UCB1 exploration coefficient over actions at a history node.
- max_depth: Maximum simulated horizon from the root history.
- rollout policy: Default policy used to evaluate newly reached history nodes; here, a guided BFS shortcut over the sampled state.
- root belief representation and n_sims: The root belief supplies the state-sampling distribution, while
n_simsdetermines how many root-state draws feed one search. More simulations can cover the belief more thoroughly, but repeated draws need not produce that many distinct particles.