Related papers: Lazy Incremental Search for Efficient Replanning w…

We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where…

Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in this class, LazySP, lazily restricts edge evaluation to only…

The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…

Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the…

Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existing algorithms operate by intelligently balancing…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…

Greedy Equivalence Search (GES) is a classic score-based algorithm for causal discovery from observational data. In the sample limit, it recovers the Markov equivalence class of graphs that describe the data. Still, it faces two challenges…

While Large Language Models (LLMs) have recently shown promise in Automated Heuristic Design (AHD), existing approaches typically formulate AHD around constructive priority rules or parameterized local search guidance, thereby restricting…

The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…

This paper presents a parameter-less optimization framework that uses the extended compact genetic algorithm (ECGA) and iterated local search (ILS), but is not restricted to these algorithms. The presented optimization algorithm (ILS+ECGA)…

Offline goal-conditioned reinforcement learning (GCRL) often struggles with long-horizon tasks, where errors in value estimation accumulate and produce unreliable policies. It is typically assumed that effective long-term planning is…

Most Probable Explanation (MPE) inference in Probabilistic Graphical Models (PGMs) is a fundamental yet computationally challenging problem arising in domains such as diagnosis, planning, and structured prediction. In many practical…

Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…

Classical optimization algorithms--hill climbing, simulated annealing, population-based methods--generate candidate solutions via random perturbations. We replace the random proposal generator with an LLM agent that reasons about evaluation…

Path planning in grid maps, arising from various applications, has garnered significant attention. Existing methods, such as A*, Dijkstra, and their variants, work well for small-scale maps but fail to address large-scale ones due to high…

Large language models (LLMs) have emerged as powerful tools for automatic algorithm design (AAD). However, existing pipelines remain inefficient. They operate at the granularity of full algorithms, redundantly rewriting recurring…

Tool-integrated (TI) reinforcement learning (RL) enables large language models (LLMs) to perform multi-step reasoning by interacting with external tools such as search engines and retrievers. Group Relative Policy Optimization (GRPO),…

A matrix algorithm runs superfast (aka at sublinear cost) if it involves much fewer flops and memory cells than an input matrix has entries. Big Data are frequently represented by matrices of immense sizes that cannot be handled directly…

Local search is a basic building block in memetic algorithms. Guided Local Search (GLS) can improve the efficiency of local search. By changing the guide function, GLS guides a local search to escape from locally optimal solutions and find…