Related papers: Uncertainty-aware Planning with Inaccurate Models …

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

This work presents the first study of using the popular Monte Carlo Tree Search (MCTS) method combined with dedicated heuristics for solving the Weighted Vertex Coloring Problem. Starting with the basic MCTS algorithm, we gradually…

The increasing use of autonomous robot systems in hazardous environments underscores the need for efficient search and rescue operations. Despite significant advancements, existing literature on object search often falls short in overcoming…

Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…

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…

We explore applying the Monte Carlo Tree Search (MCTS) algorithm in a notoriously difficult task: tuning programs for high-performance deep learning and image processing. We build our framework on top of Halide and show that MCTS can…

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…

Monte Carlo Tree Search (MCTS) is an effective test-time compute scaling (TTCS) method for improving the reasoning performance of large language models, but its highly variable execution time leads to severe long-tail latency in practice.…

Generative Flow Networks (GFlowNets) treat sampling from distributions over compositional discrete spaces as a sequential decision-making problem, training a stochastic policy to construct objects step by step. Recent studies have revealed…

We propose a novel method applicable in many scene understanding problems that adapts the Monte Carlo Tree Search (MCTS) algorithm, originally designed to learn to play games of high-state complexity. From a generated pool of proposals, our…

In this study, we explore the efficiency of the Monte Carlo Tree Search (MCTS), a prominent decision-making algorithm renowned for its effectiveness in complex decision environments, contingent upon the volume of simulations conducted.…

Monte Carlo Tree Search (MCTS) has proven highly effective in solving complex planning tasks by balancing exploration and exploitation using Upper Confidence Bound for Trees (UCT). However, existing work have not considered MCTS-based…

Automated agent workflows can enhance the problem-solving ability of large language models (LLMs), but common search strategies rely on stochastic exploration and often traverse implausible branches. This occurs because current pipelines…

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…

Leveraging the power of a graph neural network (GNN) with message passing, we present a Monte Carlo Tree Search (MCTS) method to solve stochastic orienteering problems with chance constraints. While adhering to an assigned travel budget the…

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…

Monte-Carlo Tree Search (MCTS) is a fundamental sampling-based search algorithm widely used for online planning in sequential decision-making domains. Despite its success in driving recent advances in artificial intelligence, understanding…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

We present Doubly Robust Monte Carlo Tree Search (DR-MCTS), a novel algorithm that integrates Doubly Robust (DR) off-policy estimation into Monte Carlo Tree Search (MCTS) to enhance sample efficiency and decision quality in complex…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…