Related papers: Monotone Causality in Opportunistically Stochastic…
Shortest path queries over graphs are usually considered as isolated tasks, where the goal is to return the shortest path for each individual query. In practice, however, such queries are typically part of a system (e.g., a road network)…
The stochastic shortest path problem (SSP) is a highly expressive model for probabilistic planning. The computational hardness of SSPs has sparked interest in determinization-based planners that can quickly solve large problems. However,…
We present an algorithm for the k shortest simple path problem on weighted directed graphs (kSSP) that is based on Eppstein's algorithm for a similar problem in which paths are allowed to contain cycles. In contrast to most other algorithms…
The recent end-to-end neural solvers have shown promise for small-scale routing problems but suffered from limited real-time scaling-up performance. This paper proposes GLOP (Global and Local Optimization Policies), a unified hierarchical…
The bi-objective shortest-path (BOSP) problem seeks to find paths between start and target vertices of a graph while optimizing two conflicting objective functions. We consider the BOSP problem in the presence of correlated objectives. Such…
Probabilistic-driven classification techniques extend the role of traditional approaches that output labels (usually integer numbers) only. Such techniques are more fruitful when dealing with problems where one is not interested in…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Stochastic Shortest Path (SSP) MDPs is a problem class widely studied in AI, especially in probabilistic planning. They describe a wide range of scenarios but make the restrictive assumption that the goal is reachable from any state, i.e.,…
We give a deterministic $O(m\log^{2/3}n)$-time algorithm for single-source shortest paths (SSSP) on directed graphs with real non-negative edge weights in the comparison-addition model. This is the first result to break the $O(m+n\log n)$…
Policy optimization is among the most popular and successful reinforcement learning algorithms, and there is increasing interest in understanding its theoretical guarantees. In this work, we initiate the study of policy optimization for the…
This work addresses a Multi-Objective Shortest Path Problem (MO-SPP) on a graph where the goal is to find a set of Pareto-optimal solutions from a start node to a destination in the graph. A family of approaches based on MOA* have been…
We present a randomized algorithm for the single-source shortest paths (SSSP) problem on directed graphs with arbitrary real-valued edge weights that runs in $n^{2+o(1)}$ time with high probability. This result yields the first almost…
We introduce the notion of a network's conduciveness, a probabilistically interpretable measure of how the network's structure allows it to be conducive to roaming agents, in certain conditions, from one portion of the network to another.…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Given samples from two joint distributions, we consider the problem of Optimal Transportation (OT) between them when conditioned on a common variable. We focus on the general setting where the conditioned variable may be continuous, and the…
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Transporting causal information across populations is a critical challenge in clinical decision-making. Causal modeling provides criteria for identifiability and transportability, but these require knowledge of the causal graph, which…
We explore the usage of meta-learning to derive the causal direction between variables by optimizing over a measure of distribution simplicity. We incorporate a stochastic graph representation which includes latent variables and allows for…
We consider the traffic assignment problem in nonatomic routing games where the players' cost functions may be subject to random fluctuations (e.g., weather disturbances, perturbations in the underlying network, etc.). We tackle this…