Related papers: Planning Through Stochastic Local Search and Tempo…
Graph layout is the process of creating a visual representation of a graph through a node-link diagram. Node-attribute graphs have additional data stored on the nodes which describe certain properties of the nodes called attributes. Typical…
Graph-based Retrieval-Augmented Generation (GraphRAG) has become the important paradigm for enhancing Large Language Models (LLMs) with external knowledge. However, existing approaches are constrained by their reliance on high-quality…
We study the problem of policy optimization (PO) with linear temporal logic (LTL) constraints. The language of LTL allows flexible description of tasks that may be unnatural to encode as a scalar cost function. We consider LTL-constrained…
We present an end-to-end framework for planning supported by verifiers. An orchestrator receives a human specification written in natural language and converts it into a PDDL (Planning Domain Definition Language) model, where the domain and…
Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Logic (STL) has been shown to be an effective language for…
The positive link prediction (PLP) problem is formulated in a system identification framework: we consider dynamic graphical models for auto-regressive moving-average (ARMA) Gaussian random processes. For the identification of the…
Optimizing complex systems, ranging from LLM prompts to multi-turn agents, traditionally requires labor-intensive manual iteration. We formalize this challenge as a stochastic generative optimization problem where a generative language…
In this paper, we propose a Feasible Sequential Linear Programming (FSLP) algorithm applied to time-optimal control problems (TOCP) obtained through direct multiple shooting discretization. This method is motivated by TOCP with nonlinear…
We tackle the problem of planning in nondeterministic domains, by presenting a new approach to conformant planning. Conformant planning is the problem of finding a sequence of actions that is guaranteed to achieve the goal despite the…
In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be…
Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in this class, LazySP, lazily restricts edge evaluation to only…
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…
Planning-based reinforcement learning has shown strong performance in tasks in discrete and low-dimensional continuous action spaces. However, planning usually brings significant computational overhead for decision-making, and scaling such…
Planning-based reinforcement learning for continuous control is bottlenecked by two practical issues: planning at primitive time scales leads to prohibitive branching and long horizons, while real environments are frequently partially…
Inductive logic reasoning is a fundamental task in graph analysis, which aims to generalize patterns from data. This task has been extensively studied for traditional graph representations, such as knowledge graphs (KGs), using techniques…
Weakly supervised temporal action localization is a challenging task as only the video-level annotation is available during the training process. To address this problem, we propose a two-stage approach to fully exploit multi-resolution…
Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
We are interested in enabling visual planning for complex long-horizon tasks in the space of generated videos and language, leveraging recent advances in large generative models pretrained on Internet-scale data. To this end, we present…
Pattern database (PDB) is one of the most popular automated heuristic generation techniques. A PDB maps states in a planning task to abstract states by considering a subset of variables and stores their optimal costs to the abstract goal in…