Decision-theoretic high-level robot programming is a framework for robot programming which allows the seamless integration of explicit robot programming with decision-theoretic planning.

This framework has been introduced in [Boutilier,Reiter,Soutchanski,Thrun]: ``Decision-Theoretic, High-level Robot Programming in the Situation Calculus'', AAAI-2000.

But the approach described in that paper has certain limitations: they will be mentioned later.