相关论文: VHPOP: Versatile Heuristic Partial Order Planner

Continual reinforcement learning poses a major challenge due to the tendency of agents to experience catastrophic forgetting when learning sequential tasks. In this paper, we introduce a modularity-based approach, called Hierarchical…

While POMDPs provide a general platform for non-deterministic conditional planning under a variety of quality metrics they have limited scalability. On the other hand, non-deterministic conditional planners scale very well, but many lack…

In this paper we describe COLIN, a forward-chaining heuristic search planner, capable of reasoning with COntinuous LINear numeric change, in addition to the full temporal semantics of PDDL. Through this work we make two advances to the…

Recent advances in planning have explored using learning methods to help planning. However, little attention has been given to adapting search algorithms to work better with learning systems. In this paper, we introduce partial-space…

We present a new algorithm for probabilistic planning with no observability. Our algorithm, called Probabilistic-FF, extends the heuristic forward-search machinery of Conformant-FF to problems with probabilistic uncertainty about both the…

We consider the problem of optimal planning in stochastic domains with resource constraints, where the resources are continuous and the choice of action at each step depends on resource availability. We introduce the HAO* algorithm, a…

Partially Observable Markov Decision Processes (POMDPs) are a powerful framework for planning under uncertainty. They allow to model state uncertainty as a belief probability distribution. Approximate solvers based on Monte Carlo sampling…

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…

In this paper, we focus on a class of robust vector polynomial optimization problems (RVPOP in short) without any convex assumptions. By combining/improving the utopia point method (a nonlinear scalarization) for vector optimization and…

Partially Observable Markov Decision Processes (POMDPs) provide a rich framework for sequential decision-making under uncertainty in stochastic domains. However, solving a POMDP is often intractable except for small problems due to their…

Partial-order plans in AI planning facilitate execution flexibility and several other tasks, such as plan reuse, modification, and decomposition, due to their less constrained nature. A \acrfull*{pop} specifies partial-order over actions,…

Recently, anchor-based trajectory prediction methods have shown promising performance, which directly selects a final set of anchors as future intents in the spatio-temporal coupled space. However, such methods typically neglect a deeper…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…

Search is a major technique for planning. It amounts to exploring a state space of planning domains typically modeled as a directed graph. However, prohibitively large sizes of the search space make search expensive. Developing better…

The way heuristic optimizers are designed has evolved over the decades, as computing power has increased. Such has been the case for the Linear Ordering Problem (LOP), a field in which trajectory-based strategies led the way during the…

There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements…

We propose a new order, the small polynomial path order (sPOP* for short). The order sPOP* provides a characterisation of the class of polynomial time computable function via term rewrite systems. Any polynomial time computable function…

Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…

Hoist scheduling has become a bottleneck in electroplating industry applications with the development of autonomous devices. Although there are a few approaches proposed to target at the challenging problem, they generally cannot scale to…