Related papers: A-MHA*: Anytime Multi-Heuristic A*
Graph search planning algorithms for navigation typically rely heavily on heuristics to efficiently plan paths. As a result, while such approaches require no training phase and can directly plan long horizon paths, they often require…
The integration of Large Language Model (LLM) reasoning principles into classical robot path planning represents a rapidly emerging research direction. In this paper, we propose a Semantic Risk-Aware Heuristic (SRAH) planner that encodes…
Automated Heuristic Design (AHD) using Large Language Models (LLMs) has achieved notable success in recent years. Despite the effectiveness of existing approaches, they only design a single heuristic to serve all problem instances, often…
A key challenge in satisficing planning is to use multiple heuristics within one heuristic search. An aggregation of multiple heuristic estimates, for example by taking the maximum, has the disadvantage that bad estimates of a single…
We tackle two long-standing problems related to re-expansions in heuristic search algorithms. For graph search, A* can require $\Omega(2^{n})$ expansions, where $n$ is the number of states within the final $f$ bound. Existing algorithms…
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…
We consider enhancing large language models (LLMs) for complex planning tasks. While existing methods allow LLMs to explore intermediate steps to make plans, they either depend on unreliable self-verification or external verifiers to…
This paper presents a new anytime algorithm for the marginal MAP problem in graphical models. The algorithm is described in detail, its complexity and convergence rate are studied, and relations to previous theoretical results for the…
Metaheuristic search methods have proven to be essential tools for tackling complex optimization challenges, but their full potential is often constrained by conventional algorithmic frameworks. In this paper, we introduce a novel approach…
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 recent work, Lissovoi, Oliveto, and Warwicker (Artificial Intelligence (2023)) proved that the Move Acceptance Hyper-Heuristic (MAHH) leaves the local optimum of the multimodal CLIFF benchmark with remarkable efficiency. The $O(n^3)$…
Heuristics used for solving hard real-time search problems have regions with depressions. Such regions are bounded areas of the search space in which the heuristic function is inaccurate compared to the actual cost to reach a solution.…
Real-world multi-agent systems such as warehouse robots operate under significant time constraints -- in such settings, rather than spending significant amounts of time solving for optimal paths, it is instead preferable to find valid…
Complete tree search is a highly effective method for tackling MIP problems, and over the years, a plethora of branching heuristics have been introduced to further refine the technique for varying problems. Recently, portfolio algorithms…
This paper presents a non-manual design engineering method based on heuristic search algorithm to search for candidate agents in the solution space which formed by artificial intelligence agents modeled on the base of bionics.Compared with…
Aligning LLMs with user preferences is crucial for real-world use but often requires costly fine-tuning or expensive inference, forcing trade-offs between alignment quality and computational cost. Existing inference-time methods typically…
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…
Heuristic search is a powerful approach that has successfully been applied to a broad class of planning problems, including classical planning, multi-objective planning, and probabilistic planning modelled as a stochastic shortest path…
Previous work has shown that the problem of learning the optimal structure of a Bayesian network can be formulated as a shortest path finding problem in a graph and solved using A* search. In this paper, we improve the scalability of this…
Current Retrieval-Augmented Generation (RAG) systems primarily operate on unimodal textual data, limiting their effectiveness on unstructured multimodal documents. Such documents often combine text, images, tables, equations, and graphs,…