Related papers: Flexible and Efficient Long-Range Planning Through…

This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

In this work, we propose a deep reinforcement learning (DRL) based reactive planner to solve large-scale Lidar-based autonomous robot exploration problems in 2D action space. Our DRL-based planner allows the agent to reactively plan its…

Multitask Reinforcement Learning (MTRL) approaches have gained increasing attention for its wide applications in many important Reinforcement Learning (RL) tasks. However, while recent advancements in MTRL theory have focused on the…

The Flexible Job-shop Scheduling Problem (FJSP) is a classical combinatorial optimization problem that has a wide-range of applications in the real world. In order to generate fast and accurate scheduling solutions for FJSP, various deep…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Recent advancements in the flexible job-shop scheduling problem (FJSSP) are primarily based on deep reinforcement learning (DRL) due to its ability to generate high-quality, real-time solutions. However, DRL approaches often fail to fully…

In Reinforcement Learning (RL), an agent explores the environment and collects trajectories into the memory buffer for later learning. However, the collected trajectories can easily be imbalanced with respect to the achieved goal states.…

Scheduling problems in manufacturing, logistics and project management have frequently been modeled using the framework of Resource Constrained Project Scheduling Problems with minimum and maximum time lags (RCPSP/max). Due to the…

Model-based reinforcement learning (MBRL) with real-time planning has shown great potential in locomotion and manipulation control tasks. However, the existing planning methods, such as the Cross-Entropy Method (CEM), do not scale well to…

Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL.…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Reinforcement learning (RL) involves sequential decision making in uncertain environments. The aim of the decision-making agent is to maximize the benefit of acting in its environment over an extended period of time. Finding an optimal…

This paper reviews the connections between Graphplan's planning-graph and the dynamic constraint satisfaction problem and motivates the need for adapting CSP search techniques to the Graphplan algorithm. It then describes how explanation…

Recent work applying deep reinforcement learning (DRL) to solve traveling salesman problems (TSP) has shown that DRL-based solvers can be fast and competitive with TSP heuristics for small instances, but do not generalize well to larger…

Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the high-dimension motion…

Deep Reinforcement Learning (DRL) has emerged as a promising approach for solving Combinatorial Optimization (CO) problems, such as the 3D Bin Packing Problem (3D-BPP), Traveling Salesman Problem (TSP), or Vehicle Routing Problem (VRP), but…

The deep reinforcement learning (DRL) algorithm works brilliantly on solving various complex control tasks. This phenomenal success can be partly attributed to DRL encouraging intelligent agents to sufficiently explore the environment and…