相关论文: Improving the Parallel Execution of Behavior Trees

In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…

We derive an abstract computational model from a sequential computational model that is generally used for function execution. This abstract computational model allows for the concurrent execution of functions. We discuss concurrent models…

Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…

This paper addresses the incompatible case of parallel batch scheduling, where compatible jobs belong to the same family, and jobs from different families cannot be processed together in the same batch. The state-of-the-art constraint…

The tree is an essential data structure in many applications. In a distributed application, such as a distributed file system, the tree is replicated.To improve performance and availability, different clients should be able to update their…

This work unifies insights from the systems and functional programming communities, in order to enable compositional reasoning about software which is nonetheless efficiently realizable in hardware. It exploits a correspondence between…

Traditional public blockchain systems typically had very limited transaction throughput because of the bottleneck of the consensus protocol itself. With recent advances in consensus technology, the performance limit has been greatly lifted,…

Conventional neural accelerators rely on isolated self-sufficient functional units that perform an atomic operation while communicating the results through an operand delivery-aggregation logic. Each single unit processes all the bits of…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…

Blockchain technology is booming up the digital world in recent days and thus paved a way for creating separate blockchain network for various industries. This technology is characterized by its distributed, decentralized, and immutable…

This paper takes a parallel learning approach for robust and transparent AI. A deep neural network is trained in parallel on multiple tasks, where each task is trained only on a subset of the network resources. Each subset consists of…

Attack-Defence Trees (ADTs) are well-suited to assess possible attacks to systems and the efficiency of counter-measures. In this paper, we first enrich the available constructs with reactive patterns that cover further security scenarios,…

The dynamic trees problem is to maintain a tree under edge updates while supporting queries like connectivity queries or path queries. Despite the first data structure for this fundamental problem -- the link-cut tree -- being invented 40…

Inducing latent tree structures from sequential data is an emerging trend in the NLP research landscape today, largely popularized by recent methods such as Gumbel LSTM and Ordered Neurons (ON-LSTM). This paper proposes FASTTREES, a new…

Developing parallel algorithms efficiently requires careful management of concurrency across diverse hardware architectures. C++ executors provide a standardized interface that simplifies the development process, allowing developers to…

The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a result of the execution of several tasks. Moreover, in…

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…

While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…

The quadratic complexity and indefinitely growing key-value (KV) cache of standard Transformers pose a major barrier to long-context processing. To overcome this, we introduce the Collaborative Memory Transformer (CoMeT), a novel…