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This paper introduces a formal definition of the setting of ad hoc teamworkunder partial observability and proposes a first-principled model-basedapproach which relies only on prior knowledge and partial observations of theenvironment in order to perform ad hoc teamwork. We make three distinctassumptions that set it apart previous works, namely: i) the state of theenvironment is always partially observable, ii) the actions of the teammatesare always unavailable to the ad hoc agent and iii) the ad hoc agent has noaccess to a reward signal which could be used to learn the task from scratch.Our results in 70 POMDPs from 11 domains show that our approach is not onlyeffective in assisting unknown teammates in solving unknown tasks but is alsorobust in scaling to more challenging problems.

Making Friends in the Dark: Ad Hoc Teamwork Under Partial Observability