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Model-based reinforcement learning (MBRL) with model-predictive control or online planning has shown great potential for locomotion control tasks in terms of both sample efficiency and asymptotic performance. Despite their initial…
View materialization, index selection, and plan caching are well-known techniques for optimization of query processing in database systems. The essence of these tasks is to select and save a subset of the most useful candidates…
Besides training, mathematical optimization is also used in deep learning to model and solve formulations over trained neural networks for purposes such as verification, compression, and optimization with learned constraints. However,…
Automated planning remains one of the most general paradigms in Artificial Intelligence, providing means of solving problems coming from a wide variety of domains. One of the key factors restricting the applicability of planning is its…
This paper describes the problem of coordination of an autonomous Multi-Agent System which aims to solve the coverage planning problem in a complex environment. The considered applications are the detection and identification of objects of…
Robotic motion planning problems are typically solved by constructing a search tree of valid maneuvers from a start to a goal configuration. Limited onboard computation and real-time planning constraints impose a limit on how large this…
Discovering relevant patterns for a particular user remains a challenging tasks in data mining. Several approaches have been proposed to learn user-specific pattern ranking functions. These approaches generalize well, but at the expense of…
We present a new approach to learning for planning, where knowledge acquired while solving a given set of planning problems is used to plan faster in related, but new problem instances. We show that a deep neural network can be used to…
We investigate learning heuristics for domain-specific planning. Prior work framed learning a heuristic as an ordinary regression problem. However, in a greedy best-first search, the ordering of states induced by a heuristic is more…
In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…
In recent years, the planning community has observed that techniques for learning heuristic functions have yielded improvements in performance. One approach is to use offline learning to learn predictive models from existing heuristics in a…
Planning in complex environments requires an agent to efficiently query a world model to find a feasible sequence of actions from start to goal. Recent work has shown that Large Language Models (LLMs), with their rich prior knowledge and…
Planning problems in partially observable environments cannot be solved directly with convolutional networks and require some form of memory. But, even memory networks with sophisticated addressing schemes are unable to learn intelligent…
Partially Observable Markov Decision Processes (POMDPs) provide a rich framework for sequential decision-making under uncertainty in stochastic domains. However, solving a POMDP is often intractable except for small problems due to their…
Recognition of goals and plans using incomplete evidence from action execution can be done efficiently by using planning techniques. In many applications it is important to recognize goals and plans not only accurately, but also quickly. In…
Combining Large Language Models (LLMs) with heuristic search algorithms like A* holds the promise of enhanced LLM reasoning and scalable inference. To accelerate training and reduce computational demands, we investigate the coreset…
In a Role-Playing Game, finding optimal trajectories is one of the most important tasks. In fact, the strategy decision system becomes a key component of a game engine. Determining the way in which decisions are taken (online, batch or…
LAMA is a classical planning system based on heuristic forward search. Its core feature is the use of a pseudo-heuristic derived from landmarks, propositional formulas that must be true in every solution of a planning task. LAMA builds on…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel…