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arXiv · 2601.20554

Online Risk-Averse Planning in POMDPs Using Iterated CVaR Value Function

Yaacov Pariente·Vadim Indelman
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Abstract

We study risk-sensitive planning under partial observability using the dynamic risk measure Iterated Conditional Value-at-Risk (ICVaR). A policy evaluation algorithm for ICVaR is developed with finite-time performance guarantees that do not depend on the cardinality of the action space. Building on this foundation, three widely used online planning algorithms--Sparse Sampling, Particle Filter Trees with Double Progressive Widening (PFT-DPW), and Partially Observable Monte Carlo Planning with Observation Widening (POMCPOW)--are extended to optimize the ICVaR value function rather than the expectation of the return. Our formulations introduce a risk parameter $\alpha$, where $\alpha = 1$ recovers standard expectation-based planning and $\alpha < 1$ induces increasing risk aversion. For ICVaR Sparse Sampling, we establish finite-time performance guarantees under the risk-sensitive objective, which further enable a novel exploration strategy tailored to ICVaR. Experiments on benchmark POMDP domains demonstrate that the proposed ICVaR planners achieve lower tail risk compared to their risk-neutral counterparts.

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Yaacov Pariente, Vadim Indelman. 2026-01-28. Online Risk-Averse Planning in POMDPs Using Iterated CVaR Value Function. https://arxiv.org/abs/2601.20554

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