Discussion
Why is search over belief states more expensive than over states?
Answer: C
A space with n states has two to the n subsets, so the belief space is exponentially larger even before probabilities are introduced. Compact representations and approximations are used in practice. Probabilities appear only in the probabilistic version, successor counts are comparable, and the goal test simply requires every state in the belief to be a goal. An exponential increase in the size of the space is the price of removing an assumption, and it is worth knowing before the assumption is removed.
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