POMDPPlanners

User Guide

  • Installation Guide
    • Requirements
    • Installation Methods
      • Development Installation (Recommended)
      • PyPI Installation (Future)
    • Virtual Environment Setup
    • Development Dependencies
    • Optional Dependencies
    • Verification
    • Troubleshooting
    • Getting Help
    • Next Steps
  • Quickstart Guide
    • Your First POMDP Solution
    • Running a Complete Episode
    • Core Concepts
    • Continuous Action Spaces
    • Comparing Planners
    • Hyperparameter Tuning
    • Viewing Results
    • Available Environments
    • Available Planners
    • Next Steps

Core Components

  • Belief States
    • Belief Representations
    • Base Belief Interface
      • Belief
        • Belief.config_id
        • Belief.from_config()
        • Belief.inplace_update()
        • Belief.sample()
        • Belief.update()
    • Particle Filter Beliefs
    • Belief Operations
    • Belief Updates
    • Advanced Belief Operations
    • Working with Continuous States
    • Custom Belief Implementations
    • Performance Considerations
    • See Also
  • Environments
    • Core Environment Types
    • Environment Interface
      • Environment
        • Environment.discount_factor
        • Environment.name
        • Environment.space_info
        • Environment.reward_range
        • Environment.output_dir
        • Environment.debug
        • Environment.cache_visualization()
        • Environment.compute_metrics()
        • Environment.config_id
        • Environment.encode_observation()
        • Environment.from_dict()
        • Environment.get_metric_names()
        • Environment.hash_action()
        • Environment.hash_observation()
        • Environment.initial_observation_dist()
        • Environment.initial_state_dist()
        • Environment.is_equal_observation()
        • Environment.is_terminal()
        • Environment.logger
        • Environment.observation_log_probability()
        • Environment.observation_log_probability_per_state()
        • Environment.observation_log_probability_single()
        • Environment.reward()
        • Environment.reward_batch()
        • Environment.reward_requires_next_state
        • Environment.sample_next_state()
        • Environment.sample_next_state_batch()
        • Environment.sample_next_step()
        • Environment.sample_observation()
        • Environment.to_dict()
        • Environment.transition_log_probability()
    • Space Types
      • SpaceType
        • SpaceType.DISCRETE
        • SpaceType.CONTINUOUS
        • SpaceType.MIXED
        • SpaceType.CONTINUOUS
        • SpaceType.DISCRETE
        • SpaceType.MIXED
    • Key Environment Features
    • Creating Custom Environments
    • See Also
  • Planners
    • Planning Algorithm Categories
    • Planner Interface
      • Policy
        • Policy.environment
        • Policy.discount_factor
        • Policy.name
        • Policy.log_path
        • Policy.debug
        • Policy.action()
        • Policy.config_id
        • Policy.get_info_variable_names()
        • Policy.get_space_info()
        • Policy.load()
        • Policy.logger
        • Policy.save()
    • Algorithm Details
    • Choosing the Right Planner
    • Basic Usage Example
    • Configuration Parameters
    • Creating Custom Planners
    • See Also
  • Simulations
    • Simulation Components
    • Basic Simulation Usage
    • Configuration-Based Experiments
    • Hyperparameter Tuning
    • Distributed Computing
    • Statistical Analysis
    • Experiment Caching
    • Visualization and Reporting
    • See Also

Examples

  • Basic Usage Examples
    • Your First POMDP Solution
    • Running a Complete Episode
    • Multiple Episodes with Statistics
    • Working with Different Environments
    • Comparing Multiple Algorithms
    • Visualization Example
    • Quick Configuration Tips
    • Next Steps
  • Planners Comparison Study
    • Overview
    • Complete Example
    • Expected Output and Analysis
    • Customization Options
  • Hyperparameter Tuning Examples
    • Overview
    • Basic Hyperparameter Optimization
    • Multi-Environment Optimization
    • Using Predefined Hyperparameter Configurations
    • Advanced Optimization with Risk-Averse Environments
    • Optimization with Custom Parameter Types
    • Analyzing Optimization Results
    • Best Practices for Hyperparameter Optimization
    • Troubleshooting Common Issues
    • Next Steps

API Reference

  • POMDPPlanners
    • POMDPPlanners package
      • Subpackages
        • POMDPPlanners.configs package
        • POMDPPlanners.core package
        • POMDPPlanners.environments package
        • POMDPPlanners.planners package
        • POMDPPlanners.simulations package
        • POMDPPlanners.tests package
        • POMDPPlanners.training package
        • POMDPPlanners.utils package

Misc

  • Changelog
    • Release 0.5.0 (WIP)
      • Breaking Changes:
      • New Features:
      • Bug Fixes:
      • Documentation:
      • Others:
    • Release 0.4.0 (2026-05-28)
      • Breaking Changes:
      • New Features:
      • Bug Fixes:
      • Documentation:
      • Others:
    • Release 0.3.1 (2026-05-12)
      • Bug Fixes:
      • Others:
    • Release 0.3.0 (2026-05-11)
      • Breaking Changes:
      • New Features:
      • Bug Fixes:
      • Performance:
      • Others:
    • Release 0.2.0 (2026-04-20)
      • New Features:
      • Bug Fixes:
      • Performance:
      • Others:
    • Release 0.1.0 (2026-03-21)
    • Maintainers
POMDPPlanners
  • POMDPPlanners
  • POMDPPlanners package
  • POMDPPlanners.tests package
  • POMDPPlanners.tests.test_environments package
  • POMDPPlanners.tests.test_environments.test_nuplan_pomdp package
  • POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception package
  • View page source

POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception package

Subpackages

  • POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models package
    • Submodules
    • POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_agent_models module
    • POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_ego_models module
    • POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_registry module
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