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

Planning for systems with dynamics is challenging as often there is no local planner available and the only primitive to explore the state space is forward propagation of controls. In this context, tree sampling-based planners have been…

We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Quasi-Bayesian theory uses convex sets of probability distributions and expected loss to represent preferences about plans. The theory focuses on decision robustness, i.e., the extent to which plans are affected by deviations in subjective…

Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed…

This work presents Drake, a dynamic executive for temporal plans with choice. Dynamic plan execution strategies allow an autonomous agent to react quickly to unfolding events, improving the robustness of the agent. Prior work developed…

Software-intensive systems, such as software product lines and robotics, utilise Markov decision processes (MDPs) to capture uncertainty and analyse sequential decision-making problems. Despite the usefulness of conventional policy…

This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…

This study investigates the development of an optimal execution strategy through reinforcement learning, aiming to determine the most effective approach for traders to buy and sell inventory within a finite time horizon. Our proposed model…

Deep neural networks (DNNs) have been widely applied to solve real-world regression problems. However, selecting optimal network structures remains a significant challenge. This study addresses this issue by linking neuron selection in DNNs…

Decision theories offer principled methods for making choices under various types of uncertainty. Algorithms that implement these theories have been successfully applied to a wide range of real-world problems, including materials and drug…

We consider both discrete and continuous control problems constrained by a fixed budget of some resource, which may be renewed upon entering a preferred subset of the state space. In the discrete case, we consider both deterministic and…

Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…

To improve decision-making and planning efficiency in back-end centralized redundant supply chains, this paper proposes a decision model integrating deep learning with intelligent particle swarm optimization. A distributed node deployment…

Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…

Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…

In the policy making process a number of disparate and diverse issues such as economic development, environmental aspects, as well as the social acceptance of the policy, need to be considered. A single person might not have all the…

We consider the problem of multi-task reasoning (MTR), where an agent can solve multiple tasks via (first-order) logic reasoning. This capability is essential for human-like intelligence due to its strong generalizability and simplicity for…

To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…

Standard planners for sequential decision making (including Monte Carlo planning, tree search, dynamic programming, etc.) are constrained by an implicit sequential planning assumption: The order in which a plan is constructed is the same in…