Related papers: ASPIRe: An Informative Trajectory Planner with Mut…
Target search and tracking (SAT) is a fundamental problem for various robotic applications such as search and rescue and environmental exploration. This paper proposes an informative trajectory planning approach, namely ReSPIRe, for SAT in…
Information Retrieval (IR) evaluation involves far more complexity than merely presenting performance measures in a table. Researchers often need to compare multiple models across various dimensions, such as the Precision-Recall trade-off…
Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this…
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…
Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed…
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…
This paper presents a novel Rapidly-exploring Adaptive Sampling Tree (RAST) algorithm for the adaptive sampling mission of a hybrid aerial underwater vehicle (HAUV) in an air-sea 3D environment. This algorithm innovatively combines the…
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…
Tree search has become as a representative framework for test-time reasoning with large language models (LLMs), exemplified by methods such as Tree-of-Thought and Monte Carlo Tree Search. However, it remains difficult to provide instant and…
Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Informed Trees (EIT*), employ effort heuristics to guide the…
Personalized conversational information retrieval (CIR) systems aim to satisfy users' complex information needs through multi-turn interactions by considering user profiles. However, not all search queries require personalization. The…
Recent research in robot exploration and mapping has focused on sampling environmental hotspot fields. This exploration task is formalized by Low, Dolan, and Khosla (2008) in a sequential decision-theoretic planning under uncertainty…
In this paper, we propose the InfoFusion Controller, an advanced path planning algorithm that integrates both global and local planning strategies to enhance autonomous driving in complex urban environments. The global planner utilizes the…
Reinforcement Learning (RL) has emerged as a mainstream paradigm for training Mobile GUI Agents, yet it struggles with the temporal credit assignment problem inherent in long-horizon tasks. A primary challenge lies in the trade-off between…
Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic…
In this paper we introduce the notion of explicit worst-case bounded adaptive algorithms for applications with fixed process-completion requirements. Such applications demand that a process be guaranteed to complete within an established…
In path planning, anytime almost-surely asymptotically optimal planners dominate the benchmark of sampling-based planners. A notable example is Batch Informed Trees (BIT*), where planners iteratively determine paths to batches of vertices…
Reasoning about uncertainty is vital in many real-life autonomous systems. However, current state-of-the-art planning algorithms cannot either reason about uncertainty explicitly, or do so with a high computational burden. Here, we focus on…
Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) considers the problem of an agent equipped with multiple sensors, each with different sensing accuracy and energy costs. The agent's goal is to explore the environment and…
We introduce ASPiRe (Adaptive Skill Prior for RL), a new approach that leverages prior experience to accelerate reinforcement learning. Unlike existing methods that learn a single skill prior from a large and diverse dataset, our framework…