Risk-Averse Online POMDP Planning via CVaR of the Immediate Cost with Performance Guarantees

arXiv cs.AISeptember 30, 2026en

arXiv:2609.35874v1 Announce Type: new Abstract: Online POMDP planners optimize the expected cumulative cost, which can mask dangerous states when the belief places significant mass on high-cost states. Existing risk-averse methods apply static or dynamic Conditional Value at Risk (CVaR) to the value function, capturing trajectory-level risk, but share two gaps: (i) by retaining the immediate cost as an expectation of a state-dependent cost over the belief, the risk \emph{within} the belief is left unaddressed; and (ii) by modifying the value function, they require new tailored algorithms rather than reusing existing expectation-based planners. We instead apply CVaR to the immediate cost over

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