相关论文: Seeing the Forest Despite the Trees: Large Scale S…

Sequential decision-making in high-dimensional continuous action spaces, particularly in stochastic environments, faces significant computational challenges. We explore this challenge in the traditional offline RL setting, where an agent…

There are relatively few conventions followed in reinforcement learning (RL) environments to structure the action spaces. As a consequence the application of RL algorithms to tasks with large action spaces with multiple components require…

Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…

Deliberating on large or continuous state spaces have been long standing challenges in reinforcement learning. Temporal Abstraction have somewhat made this possible, but efficiently planing using temporal abstraction still remains an issue.…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…

Behavior sequences, composed of executable steps, serve as the operational foundation for multi-constraint planning problems such as travel planning. In such tasks, each planning step is not only constrained locally but also influenced by…

Sequential planning in large state space and action space quickly becomes intractable due to combinatorial explosion of the search space. Heuristic methods, like monte-carlo tree search, though effective for large state space, but struggle…

Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

We study contextual stochastic optimization problems, where we leverage rich auxiliary observations (e.g., product characteristics) to improve decision making with uncertain variables (e.g., demand). We show how to train forest decision…

Based on decision trees, many fields have arguably made tremendous progress in recent years. In simple words, decision trees use the strategy of "divide-and-conquer" to divide the complex problem on the dependency between input features and…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…

Representation learning is a central challenge across a range of machine learning areas. In reinforcement learning, effective and functional representations have the potential to tremendously accelerate learning progress and solve more…

Spatio-temporal prediction is a crucial research area in data-driven urban computing, with implications for transportation, public safety, and environmental monitoring. However, scalability and generalization challenges remain significant…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…

Motion prediction and planning are vital tasks in autonomous driving, and recent efforts have shifted to machine learning-based approaches. The challenges include understanding diverse road topologies, reasoning traffic dynamics over a long…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

We introduce a class of learning problems where the agent is presented with a series of tasks. Intuitively, if there is relation among those tasks, then the information gained during execution of one task has value for the execution of…

A human action can be seen as transitions between one's body poses over time, where the transition depicts a temporal relation between two poses. Recognizing actions thus involves learning a classifier sensitive to these pose transitions as…