相关论文: Solution-Guided Multi-Point Constructive Search fo…

State-of-the-art approaches to partially observable planning like POMCP are based on stochastic tree search. While these approaches are computationally efficient, they may still construct search trees of considerable size, which could limit…

This work investigates Monte-Carlo planning for agents in stochastic environments, with multiple objectives. We propose the Convex Hull Monte-Carlo Tree-Search (CHMCTS) framework, which builds upon Trial Based Heuristic Tree Search and…

Many optimization problems in science and engineering are highly nonlinear, and thus require sophisticated optimization techniques to solve. Traditional techniques such as gradient-based algorithms are mostly local search methods, and often…

Consensus maximization is widely used for robust fitting in computer vision. However, solving it exactly, i.e., finding the globally optimal solution, is intractable. A* tree search, which has been shown to be fixed-parameter tractable, is…

Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…

We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…

The steelmaking continuous casting scheduling problem (SCCSP) is a critical and complex challenge in modern steel production, requiring the coordinated assignment and sequencing of steel charges across multiple production stages. Efficient…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

Online solvers for partially observable Markov decision processes have difficulty scaling to problems with large action spaces. This paper proposes a method called PA-POMCPOW to sample a subset of the action space that provides varying…

In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations without collisions while minimizing flowtime. TSPF…

Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…

Sampling is widely used in various point cloud tasks as it can effectively reduce resource consumption. Recently, some methods have proposed utilizing neural networks to optimize the sampling process for various task requirements.…

We consider the popular tree-based search strategy within the framework of reinforcement learning, the Monte Carlo Tree Search (MCTS), in the context of finite-horizon Markov decision process. We propose a dynamic sampling tree policy that…

Many complex activities of production cycles, such as quality control or fault analysis, require highly experienced specialists to perform various operations on (semi)finished products using different tools. In practical scenarios, the…

This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory optimization algorithm to evaluate the dynamic feasibility of…

Monte Carlo Tree Search (MCTS) based methods provide promising approaches for generating synthetic data to enhance the self-training of Large Language Model (LLM) based multi-agent systems (MAS). These methods leverage Q-values to estimate…

Tree-search decoding is an effective form of test-time scaling for large language models (LLMs), but real-world deployment imposes a fixed per-query token budget that varies across settings. Existing tree-search policies are largely…

Model Predictive Control (MPC) is a computationally demanding control technique that allows dealing with multiple-input and multiple-output systems, while handling constraints in a systematic way. The necessity of solving an optimization…

Combinatorial optimization problems are encountered in many practical contexts such as logistics and production, but exact solutions are particularly difficult to find and usually NP-hard for considerable problem sizes. To compute…