A Bayesian network, Bayes network, belief network, Bayes(ian) model or probabilistic directed acyclic graphical model is a probabilistic graphical model (a type of statistical model) that represents a set of variables and their conditional dependencies via a directed acyclic graph (DAG). (Wikipedia)
Y et, one of the fundamental challenges lies in the fact that obtaining trajectory samples from the environment is often very costly, e.g., physical robots situated in real-world.