相关论文: Planning Graph Heuristics for Belief Space Search

In this paper, we present Batch Informed Trees (BIT*), a planning algorithm based on unifying graph- and sampling-based planning techniques. By recognizing that a set of samples describes an implicit random geometric graph (RGG), we are…

We present a labeling scheme that assigns labels of size $\tilde O(1)$ to the vertices of a directed weighted planar graph $G$, such that for any fixed $\varepsilon>0$ from the labels of any three vertices $s$, $t$ and $f$ one can determine…

Nearest neighbor search is central in machine learning, information retrieval, and databases. For high-dimensional datasets, graph-based methods such as HNSW, DiskANN, and NSG have become popular thanks to their empirical accuracy and…

Causal discovery aims to learn causal relationships between variables from targeted data, making it a fundamental task in machine learning. However, causal discovery algorithms often rely on unverifiable causal assumptions, which are…

Optimal transportation distances are valuable for comparing and analyzing probability distributions, but larger-scale computational techniques for the theoretically favorable quadratic case are limited to smooth domains or regularized…

Graph Edit Distance (GED) is a widely used metric for measuring similarity between two graphs. Computing the optimal GED is NP-hard, leading to the development of various neural and non-neural heuristics. While neural methods have achieved…

The paper is a second in a series of two papers evaluating the power of a new scheme that generates search heuristics mechanically. The heuristics are extracted from an approximation scheme called mini-bucket elimination that was recently…

This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning…

In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…

Recent work investigated the use of Reinforcement Learning (RL) for the synthesis of heuristic guidance to improve the performance of temporal planners when a domain is fixed and a set of training problems (not plans) is given. The idea is…

We consider the problem of reaching a propositional goal condition in fully-observable non-deterministic (FOND) planning under a general class of fairness assumptions that are given explicitly. The fairness assumptions are of the form A/B…

The following paper is a reproducibility report for "Path Planning using Neural A* Search" published in ICML2 2021 as part of the ML Reproducibility Challenge 2021. The original paper proposes the Neural A* planner, and claims it achieves…

We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…

We develop a belief space planning (BSP) approach that advances the state of the art by incorporating reasoning about data association (DA) within planning, while considering additional sources of uncertainty. Existing BSP approaches…

Heuristics have achieved great success in solving combinatorial optimization problems~(COPs). However, heuristics designed by humans require too much domain knowledge and testing time. Since Large Language Models~(LLMs) possess strong…

Clustering a graph means identifying internally dense subgraphs which are only sparsely interconnected. Formalizations of this notion lead to measures that quantify the quality of a clustering and to algorithms that actually find…

Robotic motion planning problems are typically solved by constructing a search tree of valid maneuvers from a start to a goal configuration. Limited onboard computation and real-time planning constraints impose a limit on how large this…

Graph Edit Distance (GED) is a popular similarity measurement for pairwise graphs and it also refers to the recovery of the edit path from the source graph to the target graph. Traditional A* algorithm suffers scalability issues due to its…

We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path…

A (1 + eps)-approximate distance oracle for a graph is a data structure that supports approximate point-to-point shortest-path-distance queries. The most relevant measures for a distance-oracle construction are: space, query time, and…