相关论文: Planning Through Stochastic Local Search and Tempo…
Temporal graphs represent graph evolution over time, and have been receiving considerable research attention. Work on expressing temporal graph patterns or discovering temporal motifs typically assumes relatively simple temporal…
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoiding obstacles. Reactive, predictive, and learning-based…
Large scale Gaussian process (GP) regression is infeasible for larger data sets due to cubic scaling of flops and quadratic storage involved in working with covariance matrices. Remedies in recent literature focus on divide-and-conquer,…
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…
Recently, the iterative approach named linear tabling has received considerable attention because of its simplicity, ease of implementation, and good space efficiency. Linear tabling is a framework from which different methods can be…
We investigate the temporal concatenation of sub-policies in Markov Decision Processes (MDP) with time-varying reward functions. We introduce General Dijkstra Search (GDS), and prove that globally optimal goal-reaching policies can be…
Large language models (LLMs) have achieved remarkable success across a wide spectrum of tasks; however, they still face limitations in scenarios that demand long-term planning and spatial reasoning. To facilitate this line of research, in…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
Factor graph, as a bipartite graphical model, offers a structured representation by revealing local connections among graph nodes. This study explores the utilization of factor graphs in modeling the autonomous racecar planning problem,…
We describe the version of the GPT planner used in the probabilistic track of the 4th International Planning Competition (IPC-4). This version, called mGPT, solves Markov Decision Processes specified in the PPDDL language by extracting and…
Temporal Knowledge Graphs (TKGs) represent dynamic facts as timestamped relations between entities. TKG completion involves forecasting missing or future links, requiring models to reason over time-evolving structure. While LLMs show…
We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…
We consider temporal numeric planning problems $\Pi$ expressed in PDDL2.1 level 3, and show how to produce SMT formulas $(i)$ whose models correspond to valid plans of $\Pi$, and $(ii)$ that extend the recently proposed planning with…
General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…
The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…
Mobility-on-demand systems are transforming the way we think about the transportation of people and goods. Most research effort has been placed on scalability issues for systems with a large number of agents and simple pick-up/drop-off…
Dynamic graphs serve as a generic abstraction and description of the evolutionary behaviors of various complex systems (e.g., social networks and communication networks). Temporal link prediction (TLP) is a classic yet challenging inference…
We consider approximate dynamic programming in $\gamma$-discounted Markov decision processes and apply it to approximate planning with linear value-function approximation. Our first contribution is a new variant of Approximate Policy…