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Deep Neural Network guided Monte-Carlo Tree Search (DNN-MCTS) is a powerful class of AI algorithms. In DNN-MCTS, a Deep Neural Network model is trained collaboratively with a dynamic Monte-Carlo search tree to guide the agent towards…
The integration of autonomous vehicles into urban and highway environments necessitates the development of robust and adaptable behavior planning systems. This study presents an innovative approach to address this challenge by utilizing a…
Recent breakthroughs in Artificial Intelligence have shown that the combination of tree-based planning with deep learning can lead to superior performance. We present Adaptive Entropy Tree Search (ANTS) - a novel algorithm combining…
Popular Monte-Carlo tree search (MCTS) algorithms for online planning, such as epsilon-greedy tree search and UCT, aim at rapidly identifying a reasonably good action, but provide rather poor worst-case guarantees on performance improvement…
The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo…
Monte Carlo Tree Search (MCTS), most famously used in game-play artificial intelligence (e.g., the game of Go), is a well-known strategy for constructing approximate solutions to sequential decision problems. Its primary innovation is the…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
Monte Carlo Tree Search (MCTS) is particularly adapted to domains where the potential actions can be represented as a tree of sequential decisions. For an effective action selection, MCTS performs many simulations to build a reliable tree…
Decentralized online planning can be an attractive paradigm for cooperative multi-agent systems, due to improved scalability and robustness. A key difficulty of such approach lies in making accurate predictions about the decisions of other…
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate…
AlphaZero, using a combination of Deep Neural Networks and Monte Carlo Tree Search (MCTS), has successfully trained reinforcement learning agents in a tabula-rasa way. The neural MCTS algorithm has been successful in finding near-optimal…
Lane-free traffic environments allow vehicles to better harness the lateral capacity of the road without being restricted to lane-keeping, thereby increasing the traffic flow rates. As such, we have a distinct and more challenging setting…
Monte Carlo Tree Search (MCTS) scales poorly in cooperative multi-agent domains because expansion must consider an exponentially large set of joint actions, severely limiting exploration under realistic search budgets. We propose NonZero,…
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…
Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the available regions for object relocation are highly…
Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in…
How resources are deployed to secure critical targets in networks can be modelled by Network Security Games (NSGs). While recent advances in deep learning (DL) provide a powerful approach to dealing with large-scale NSGs, DL methods such as…
Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…
The combination of Monte-Carlo Tree Search (MCTS) and deep reinforcement learning is state-of-the-art in two-player perfect-information games. In this paper, we describe a search algorithm that uses a variant of MCTS which we enhanced by 1)…
It is widely recognized that the deeper networks or networks with more feature maps have better performance. Existing studies mainly focus on extending the network depth and increasing the feature maps of networks. At the same time,…