相关论文: Replanning in Domains with Partial Information and…

Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot planner is unable to cope with mismatches between the…

Partially observable Markov decision processes (POMDPs) are a natural model for planning problems where effects of actions are nondeterministic and the state of the world is not completely observable. It is difficult to solve POMDPs…

We consider the problem of reasoning and planning with incomplete knowledge and deterministic actions. We introduce a knowledge representation scheme called PSIPLAN that can effectively represent incompleteness of an agent's knowledge while…

Recent advancements in Large Language Models have sparked interest in their potential for robotic task planning. While these models demonstrate strong generative capabilities, their effectiveness in producing structured and executable plans…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Conformant planning is the problem of finding a sequence of actions for achieving a goal in the presence of uncertainty in the initial state or action effects. The problem has been approached as a path-finding problem in belief space where…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Temporal planning is an extension of classical planning involving concurrent execution of actions and alignment with temporal constraints. Durative actions along with invariants allow for modeling domains in which multiple agents operate in…

We propose a method to reduce the computational effort to solve a partial differential equation on a given domain. The main idea is to split the domain of interest in two subdomains, and to use different approximation methods in each of the…

There is increasing awareness in the planning community that depending on complete models impedes the applicability of planning technology in many real world domains where the burden of specifying complete domain models is too high. In this…

As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model,…

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

Planning remains a core challenge for large language models (LLMs), particularly in domains that require coherent multi-step action sequences grounded in external constraints. We introduce SymPlanner, a novel framework that equips LLMs with…

In domains requiring intelligent agents to emulate plausible human-like behaviour, such as formative simulations, traditional techniques like behaviour trees encounter significant challenges. Large Language Models (LLMs), despite not always…

In automated planning, recognising the goal of an agent from a trace of observations is an important task with many applications. The state-of-the-art approaches to goal recognition rely on the application of planning techniques, which…

A model of story generation recently proposed by Riedl and Young casts it as planning, with the additional condition that story characters behave intentionally. This means that characters have perceivable motivation for the actions they…

While classical planning languages make the closed-domain and closed-world assumption, there have been various approaches to extend those with DL reasoning, which is then interpreted under the usual open-world semantics. Current approaches…

Large Language Models have been found to create plans that are neither executable nor verifiable in grounded environments. An emerging line of work demonstrates success in using the LLM as a formalizer to generate a formal representation of…

Learning and planning in partially-observable domains is one of the most difficult problems in reinforcement learning. Traditional methods consider these two problems as independent, resulting in a classical two-stage paradigm: first learn…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…