相关论文: Efficient Decision-Theoretic Planning: Techniques …

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

We develop an optimization framework centered around a core idea: once a (parametric) policy is specified, control authority is transferred to the policy, resulting in an autonomous dynamical system. Thus we should be able to optimize…

Trajectory optimizers for model-based reinforcement learning, such as the Cross-Entropy Method (CEM), can yield compelling results even in high-dimensional control tasks and sparse-reward environments. However, their sampling inefficiency…

We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…

In this paper, we propose an efficient implementation of deep policy gradient method (PGM) for optimal control problems in continuous time. The proposed method has the ability to manage the allocation of computational resources, number of…

The last decade has witnessed growth in the computational requirements for training deep neural networks. Current approaches (e.g., data/model parallelism, pipeline parallelism) parallelize training tasks onto multiple devices. However,…

In this paper we present novel algorithmic solutions for several resource processing and data transfer multicriteria optimization problems. The results of most of the presented techniques are strategies which solve the considered problems…

When optimizing a thread in a concurrent program (either done manually or by the compiler), it must be guaranteed that the resulting thread is a refinement of the original thread. Most theories of valid optimizations are formulated in terms…

We present a new approach to learning for planning, where knowledge acquired while solving a given set of planning problems is used to plan faster in related, but new problem instances. We show that a deep neural network can be used to…

A key challenge in satisficing planning is to use multiple heuristics within one heuristic search. An aggregation of multiple heuristic estimates, for example by taking the maximum, has the disadvantage that bad estimates of a single…

Ensembles of classification and regression trees remain popular machine learning methods because they define flexible non-parametric models that predict well and are computationally efficient both during training and testing. During…

Planning with preferences has been employed extensively to quickly generate high-quality plans. However, it may be difficult for the human expert to supply this information without knowledge of the reasoning employed by the planner and the…

This work considers the sample and computational complexity of obtaining an $\epsilon$-optimal policy in a discounted Markov Decision Process (MDP), given only access to a generative model. In this work, we study the effectiveness of the…

In Meta-Reinforcement Learning (meta-RL) an agent is trained on a set of tasks to prepare for and learn faster in new, unseen, but related tasks. The training tasks are usually hand-crafted to be representative of the expected distribution…

A recursive tree planner (RTP) is designed to function as a pure planner without policies at one extreme and run a pure greedy policy at the other. In between, the RTP exploits policies to improve planning performance and improve zero-shot…

Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. With Deep Reinforcement Learning, optimal driving strategies…

Bayesian optimal experiments that maximize the information gained from collected data are critical to efficiently identify behavioral models. We extend a seminal method for designing Bayesian optimal experiments by introducing two…

Finding tight bounds on the optimal solution is a critical element of practical solution methods for discrete optimization problems. In the last decade, decision diagrams (DDs) have brought a new perspective on obtaining upper and lower…

We present the theoretical analysis and proofs of a recently developed algorithm that allows for optimal planning over long and infinite horizons for achieving multiple independent tasks that are partially observable and evolve over time.

Finetuning large language models on instruction data is crucial for enhancing pre-trained knowledge and improving instruction-following capabilities. As instruction datasets proliferate, selecting optimal data for effective training becomes…