Active Noise Floor Estimation for Reliability-Optimal POMDPs: A Value-of-Noise-Information Approach

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Chinese explanation / 中文解读

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Original abstract

Finite Reliability Representations (FRR) certify when a cell-constant policy is sufficient for reliable decision-making in a partially observed system with a known physical noise floor. In practice, however, sensing and execution noise can be latent and context-dependent. This paper develops a certificate-aware active disambiguation framework for an unknown physical noise parameter theta = (sigma_y, sigma_u), with the sensor-only case obtained by fixing sigma_u. We define the Value of Noise Information (VoNI) as the expected excess FRR certificate gap caused by using a reliability cover calibrated to the current estimate rather than to the realized noise parameter. We bound VoNI using action-value model mismatch and FRR radius inflation, showing that noise estimation has low decision value in sub-crossover regimes where the FRR certificate is insensitive to theta, but becomes valuable when posterior uncertainty can invalidate the current cover. A bi-level decision maker uses a posterior over theta, obtained from innovation statistics, execution residuals, or another online estimator, and triggers diagnostic probing only when uncertainty threatens the FRR certificate. We also interpret VoNI as a tractable, certificate-aware approximation to a high-level finite POMDP for latent sensing-execution regime disambiguation. Under stationary, identifiable, and persistently exciting regimes, we establish posterior consistency and convergence of the induced policy loss to the FRR approximation floor. Closed-loop UGV simulations with EKF-based innovation residuals show earlier detection of abrupt sensing-noise jumps, lower drift-tracking error, and substantially fewer probing actions than posterior-entropy exploration over 50 Monte Carlo trials.

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