Equation 7 · Comparing the Main Approaches to AI Agent Architecture
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the plan. Read the equation part by part below; each part has a contextual explanation and a link to its mathematical background.
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The plan P is computed against the belief state available at time zero and then held fixed; the executor applies it against a stream of later observations without necessarily invoking the planning policy again. That is precisely the assumption a classical open-loop plan makes, and it is a specific instance of the belief-state fragility decision theory already names: a policy computed once from a belief state is only as good as that belief state stays accurate, and nothing in the equation above notices when the two have quietly come apart [ 11 ] .
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