- simulate_POMDP() and simulate_MDP() gained parameter delta_horizon and calculates now the horizon for infinite-horizon problems.
- added add_policy() and several consistency checks.

- Changed the action names for the Maze example to the names used in Russell and Norvig’s AIMA book.

- simulate_POMDP() now adds terminal values.

- Fixed memory access bug in model.h

- plot_policy_graph(): The parameter order has slightly changed; belief_col is now called state_col; unreachable states are now suppressed.
- policy() gained parameters alpha and action.
- color palettes are now exported.
- POMPD accessors gain parameter drop.
- POMDP constructor and read_POMDP gained parameter normalize and, by default, normalize the POMDP definition.

- Large POMDP descriptions are now handled better by keeping the reward as a data.frame and supporting sparse matrices in the C++ code.
- New function value_function() to access alpha vectors.
- New function regret() to calculate the regret of a policy.
- transition_graph() to visualize the transition model.

- Added C++ (Rcpp) support. Speed up for simulate_POMDP, sample_belief_space, reward, …
- simulate_POMDP and sample_belief_space now have parallel (foreach) support.
- Sparse matrices from package Matrix for matrices with a density below 50%.
- Added support to parse matrices for POMDP files.
- Added model normalization.
- is_solved_POMDP(), is_converged_POMDP(), is_timedependent_POMDP(), and is_solved_MDP() are now exported.

- accessors are now called now transition_val() and observation_val().
- simulate_POMDP() and simulate_MDP() now return a list.
- reimplemented round_stochastic() to improve speed.
- MDP policy now uses factors for actions.
- estimate_belief_for_nodes() now can also use trajectories to estimate beliefs faster.
- cleaned up the interface for episodes and epochs.

- Fixed rounding issue on some architectures.

- policy_graph() can now produce policy trees for finite-horizon problems and the initial belief can be specified.
- simulate_POMDP(): fixed bug with not using horizon.
- reward() and reward_node_action() have now been separated.
- sample_belief_space() gained method ‘trajectories’.
- simulate_POMDP(): supports not epsilon-greedy policies.
- added x_prob() and x_val() functions to access individual parts of the matrices.
- fixed converged finite-horizon case. It now only returns the converged graph/alpha.
- we use not internally NA to represent * in the POMDP definition.
- actions, states and observations are now factors in most places.

- Fixed rounding issue on some architectures.
- Fixed bug in write_POMDP() (reported by emile-pelletier-gc).
- estimate_belief_for_nodes() is now exposed and the code has been improved.

- POMDP objects now have no list element model, but are the model list directly.
- moved pomdp-solve to package pomdpSolve.
- added solve_MDP().
- transition probability, observation probabilities and rewards can now be specified as a function.
- transition_matrix et al now can also return a function.
- Improved POMDP file writer.

- moved Ternary and visNetwork to SUGGESTED.
- removed clang warning for lex scanners.

- Removed nonportable flag -C from Makefile.

- Added a wrapper for the sarsop library.

- Improved error messages when accessing fields not parsed by read_POMDP.
- policy() no longer returns the graph, but just alphas and the optimal action.
- The maintainer is now mhahsler.

- Resolved issues with factors for R 4.0. We now mostly use character instead of factors.
- States and actions as numbers are now handled correctly (reported by meeheal).
- Added spelling fixes by brianrice2.
- Fixed buffer overflow for filename parameters in pomdpsolve.

- Support finite-horizon POMDPs and store epochs.
- reward now looks at different epochs, calculates the optimal actions and the parameter names are improved.
- solve_POMDP not looks at convergence.
- solve_POMDP gained parameter terminal_values.
- solve_POMDP gained parameter discount to overwrite the discount rate specified in the model.
- solve_POMDP can now solve POMDPs with time-dependent transition probabilities, observation probabilities and reward structure.
- solve_POMDP gained parameter grid in parameter list to specify a custom belief point grid for the grid method.
- write_POMDP and solve_POMDP gained parameter digits.
- added read_POMDP to read POMDP files.
- plot for POMDP is now replaced by plot_policy_graph.
- added policy graph visualization with visNetwork.
- added plot_value_function.
- added function sample_belief_space to sample from the belief space.
- added function plot_belief_space.
- added function transition_matrix.
- added function observation_matrix.
- added function reward_matrix.
- POMDP model now also contains horizon and terminal_values.
- added MDP formulated as a POMDP.
- added policy function to extract a better readable policy.
- added update_belief.
- added simulate_POMDP.
- added round_stochastic.
- added optimal_action.

- solve_POMDP can now solve POMDP files.
- added helper functions O, R and T.
- improved plot.
- Added reward function.
- values argument is now called max.
- Fixed class structure. The central class is not POMDP with elements model and solution.

- fixed warning for start = “uniform”.
- fixed warning in C code for gcc10.

- fixed warning in mdp.c for gcc9.

- Fixed Warning in fg-params.c

- New method transitions to extract the transition matrix from a POMDP.

Initial CRAN release.