相关论文: Vector-space Analysis of Belief-state Approximatio…

Partially observable Markov decision processes (POMDPs) are a powerful abstraction for tasks that require decision making under uncertainty, and capture a wide range of real world tasks. Today, effective planning approaches exist that…

We consider a status update system consisting of a finite-state Markov source, an energy-harvesting-enabled transmitter, and a sink. The forward and feedback channels between the transmitter and the sink are error-prone. We study the…

The constrained Markov decision process (CMDP) framework emerges as an important reinforcement learning approach for imposing safety or other critical objectives while maximizing cumulative reward. However, the current understanding of how…

Decision-making under uncertainty is a critical aspect of many practical autonomous systems due to incomplete information. Partially Observable Markov Decision Processes (POMDPs) offer a mathematically principled framework for formulating…

Large-scale multi-modal deep learning models have revolutionized domains such as healthcare, highlighting the importance of computational power. However, in resource-constrained regions like Low and Middle-Income Countries (LMICs), limited…

We propose a quantization based approach for fast approximate Maximum Inner Product Search (MIPS). Each database vector is quantized in multiple subspaces via a set of codebooks, learned directly by minimizing the inner product quantization…

In most real-world reinforcement learning applications, state information is only partially observable, which breaks the Markov decision process assumption and leads to inferior performance for algorithms that conflate observations with…

Building deep learning models that can reason about their environment requires capturing its underlying dynamics. Joint-Embedded Predictive Architectures (JEPA) provide a promising framework to model such dynamics by learning…

Generalizable robotic mobile manipulation in open-world environments poses significant challenges due to long horizons, complex goals, and partial observability. A promising approach to address these challenges involves planning with a…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

In many practical applications, decision-making processes must balance the costs of acquiring information with the benefits it provides. Traditional control systems often assume full observability, an unrealistic assumption when…

Value-of-information analyses provide a straightforward means for selecting the best next observation to make, and for determining whether it is better to gather additional information or to act immediately. Determining the next best test…

Reinforcement learning agents must painstakingly learn through trial and error what sets of state-action pairs are value equivalent -- requiring an often prohibitively large amount of environment experience. MDP homomorphisms have been…

We present new algorithms for computing and approximating bisimulation metrics in Markov Decision Processes (MDPs). Bisimulation metrics are an elegant formalism that capture behavioral equivalence between states and provide strong…

We present metrics for measuring state similarity in Markov decision processes (MDPs) with infinitely many states, including MDPs with continuous state spaces. Such metrics provide a stable quantitative analogue of the notion of…

Traditional neural network models for intent inference rely heavily on observable states and struggle to generalize across diverse tasks and dynamic environments. Recent advances in Vision Language Models (VLMs) and Vision Language Action…

Model predictive control (MPC) is widely used in industries but implementing it poses challenges due to hardware or time constraints. A promising solution is to approximate the MPC policy using function approximators like neural networks.…

The objective of this paper is to design an embedding method that maps local features describing an image (e.g. SIFT) to a higher dimensional representation useful for the image retrieval problem. First, motivated by the relationship…

Business process simulation (BPS) is a key tool for analyzing and optimizing organizational workflows, supporting decision-making by estimating the impact of process changes. The reliability of such estimates depends on the ability of a BPS…

Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive…