Related papers: Accelerating Monte-Carlo Tree Search on CPU-FPGA H…

Polly is the LLVM project's polyhedral loop nest optimizer. Recently, user-directed loop transformation pragmas were proposed based on LLVM/Clang and Polly. The search space exposed by the transformation pragmas is a tree, wherein each node…

We propose a provably correct Monte Carlo tree search (MCTS) algorithm for solving risk-aware Markov decision processes (MDPs) with entropic risk measure (ERM) objectives. We provide a non-asymptotic analysis of our proposed algorithm,…

Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…

Planning problems are among the most important and well-studied problems in artificial intelligence. They are most typically solved by tree search algorithms that simulate ahead into the future, evaluate future states, and back-up those…

This paper introduces a search algorithm for index structures based on a B+ tree, specifically optimized for execution on a field-programmable gate array (FPGA). Our implementation efficiently traverses and reuses tree nodes by processing a…

We consider the popular tree-based search strategy within the framework of reinforcement learning, the Monte Carlo Tree Search (MCTS), in the context of finite-horizon Markov decision process. We propose a dynamic sampling tree policy that…

To solve the problem of lateral and logitudinal joint decision-making of multi-vehicle cooperative driving for connected and automated vehicles (CAVs), this paper proposes a Monte Carlo tree search (MCTS) method with parallel update for…

Monte-Carlo Tree Search (MCTS) methods, such as Upper Confidence Bound applied to Trees (UCT), are instrumental to automated planning techniques. However, UCT can be slow to explore an optimal action when it initially appears inferior to…

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved…

This paper proposes a new game-search algorithm, PN-MCTS, which combines Monte-Carlo Tree Search (MCTS) and Proof-Number Search (PNS). These two algorithms have been successfully applied for decision making in a range of domains. We define…

Autonomous mobile robots enable increased flexibility of manufacturing systems. The design and operating strategy of such a fleet of robots requires careful consideration of both fixed and operational costs. In this paper, a Monte-Carlo…

Diffusion models have recently emerged as a powerful tool for planning. However, unlike Monte Carlo Tree Search (MCTS)-whose performance naturally improves with inference-time computation scaling-standard diffusion-based planners offer only…

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the…

Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…

This paper introduces the Constrained Monte Carlo Tree Search (CMCTS) framework to enhance the mathematical reasoning capabilities of Large Language Models (LLM). By incorporating a constrained action space, Process Reward Model (PRM), and…

This paper presents a deeply pipelined and massively parallel Binary Search Tree (BST) accelerator for Field Programmable Gate Arrays (FPGAs). Our design relies on the extremely parallel on-chip memory, or Block RAMs (BRAMs) architecture of…

In this paper we explore the application of simultaneous move Monte Carlo Tree Search (MCTS) based online framework for tactical maneuvering between two unmanned aircrafts. Compared to other techniques, MCTS enables efficient search over…

Monte Carlo Tree Search (MCTS) has emerged as a powerful tool for decision-making in robotics, enabling efficient exploration of large search spaces. However, traditional MCTS methods struggle in environments characterized by high…

Flexible implementations of Monte Carlo Tree Search (MCTS), combined with domain specific knowledge and hybridization with other search algorithms, can be powerful for finding the solutions to problems in complex planning. We introduce…

This study explores how to enhance the reasoning capabilities of large language models (LLMs) in knowledge base question answering (KBQA) by leveraging Monte Carlo Tree Search (MCTS). Semantic parsing-based KBQA methods are particularly…