Related papers: Group Marching Tree: Sampling-Based Approximately …
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…
Graph Neural Networks (GNNs) have shown great superiority on non-Euclidean graph data, achieving ground-breaking performance on various graph-related tasks. As a practical solution to train GNN on large graphs with billions of nodes and…
Gradient Boosted Decision Tree (GBDT) is a widely-used machine learning algorithm that has been shown to achieve state-of-the-art results on many standard data science problems. We are interested in its application to multioutput problems…
In recent years, the Hamiltonian Monte Carlo (HMC) algorithm has been found to work more efficiently compared to other popular Markov Chain Monte Carlo (MCMC) methods (such as random walk Metropolis-Hastings) in generating samples from a…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
Autonomous marine vehicles play an essential role in many ocean science and engineering applications. Planning time and energy optimal paths for these vehicles to navigate in stochastic dynamic ocean environments is essential to reduce…
This paper introduces Bidirectional Guidance Informed Trees (BIGIT*),~a new asymptotically optimal sampling-based motion planning algorithm. Capitalizing on the strengths of \emph{meet-in-the-middle} property in bidirectional heuristic…
Sorting is a primitive operation that is a building block for countless algorithms. As such, it is important to design sorting algorithms that approach peak performance on a range of hardware architectures. Graphics Processing Units (GPUs)…
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…
Model selection in Gaussian processes scales prohibitively with the size of the training dataset, both in time and memory. While many approximations exist, all incur inevitable approximation error. Recent work accounts for this error in the…
We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for…
Standard model-free reinforcement learning algorithms optimize a policy that generates the action to be taken in the current time step in order to maximize expected future return. While flexible, it faces difficulties arising from the…
Gaussian process (GP) regression is a powerful probabilistic modeling technique with built-in uncertainty quantification. When one has access to multiple correlated simulations (tasks), it is common to fit a multitask GP (MTGP) surrogate…
In up-to-date machine learning (ML) applications on cloud or edge computing platforms, batching is an important technique for providing efficient and economical services at scale. In particular, parallel computing resources on the…
Over the last 20 years significant effort has been dedicated to the development of sampling-based motion planning algorithms such as the Rapidly-exploring Random Trees (RRT) and its asymptotically optimal version (e.g. RRT*). However,…
We present a GPU solution for exact maximal clique enumeration (MCE) that performs a search tree traversal following the Bron-Kerbosch algorithm. Prior works on parallelizing MCE on GPUs perform a breadth-first traversal of the tree, which…
Real-time trajectory optimization for nonlinear constrained autonomous systems is critical and typically performed by CPU-based sequential solvers. Specifically, reliance on global sparse linear algebra or the serial nature of dynamic…
Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the most promising regions, which significantly reduces…
Minimum Spanning Tree (MST) is an important graph algorithm that has wide ranging applications in the areas of computer networks, VLSI routing, wireless communications among others. Today virtually every computer is built out of multi-core…