相关论文: Planning Graph Heuristics for Belief Space Search

We present Neural A*, a novel data-driven search method for path planning problems. Despite the recent increasing attention to data-driven path planning, machine learning approaches to search-based planning are still challenging due to the…

The bus-factor is a critical risk indicator that quantifies how many key contributors a project can afford to lose before core knowledge or functionality is compromised. Despite its practical importance, accurately computing the bus-factor…

Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is…

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…

Heuristics are a central component of deterministic planning, particularly in domain-independent settings where general applicability is prioritized over task-specific tuning. This work revisits that paradigm in light of recent advances in…

There is an impressive body of work on developing heuristics and other reasoning algorithms to guide search in optimal and anytime planning algorithms for classical planning. However, very little effort has been directed towards developing…

Existing conversational search systems can synthesize information into responses, but they lack principled ways to adapt response formats to users' cognitive states. This paper investigates whether aligning format and distance, which…

Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics…

The graph edit distance (GED) is a well-established distance measure widely used in many applications. However, existing methods for the GED computation suffer from several drawbacks including oversized search space, huge memory…

This paper describes a novel approach to planning which takes advantage of decision theory to greatly improve robustness in an uncertain environment. We present an algorithm which computes conditional plans of maximum expected utility. This…

Recent work on LatPlan has shown that it is possible to learn models for domain-independent classical planners from unlabeled image data. Although PDDL models acquired by LatPlan can be solved using standard PDDL planners, the resulting…

A well-defined distance on the parameter space is key to evaluating estimators, ensuring consistency, and building confidence sets. While there are typically standard distances to adopt in a continuous space, this is not the case for…

We introduce a new algorithm, Regression based Supervised Learning (RSL), for learning per instance Neural Network (NN) defined heuristic functions for classical planning problems. RSL uses regression to select relevant sets of states at a…

Approximate nearest neighbor search (ANNS) in high-dimensional spaces is a pivotal challenge in the field of machine learning. In recent years, graph-based methods have emerged as the superior approach to ANNS, establishing a new state of…

Recent research in decision theoretic planning has focussed on making the solution of Markov decision processes (MDPs) more feasible. We develop a family of algorithms for structured reachability analysis of MDPs that are suitable when an…

Goal recognition is the problem of inferring the goal of an agent, based on its observed actions. An inspiring approach - plan recognition by planning (PRP) - uses off-the-shelf planners to dynamically generate plans for given goals,…

We study the problem of learning good heuristic functions for classical planning tasks with neural networks based on samples represented by states with their cost-to-goal estimates. The heuristic function is learned for a state space and…

In order to have effective human-AI collaboration, it is necessary to address how the AI agent's behavior is being perceived by the humans-in-the-loop. When the agent's task plans are generated without such considerations, they may often…

Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…

Selecting the optimal set of countermeasures is a challenging task that involves various considerations and tradeoffs such as prioritizing the risks to mitigate and costs. The vast majority of studies for selecting a countermeasure…