相关论文: Self-planting: digging holes in rough landscapes

Planning an optimal route in a complex environment requires efficient reasoning about the surrounding scene. While human drivers prioritize important objects and ignore details not relevant to the decision, learning-based planners typically…

Large-scale planting of trees has been proposed as a low-cost natural solution for carbon mitigation, but is hampered by poor selection of plantation sites, especially in developing countries. To aid in site selection, we develop the ePSA…

The paradigms of transformational planning, case-based planning, and plan debugging all involve a process known as plan adaptation - modifying or repairing an old plan so it solves a new problem. In this paper we provide a…

We describe a method to train a generative model with latent factors that are (approximately) independent and localized. This means that perturbing the latent variables affects only local regions of the synthesized image, corresponding to…

Fine-tuning is a popular way of exploiting knowledge contained in a pre-trained convolutional network for a new visual recognition task. However, the orthogonal setting of transferring knowledge from a pretrained network to a visually…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Creating a vision pipeline for different datasets to solve a computer vision task is a complex and time consuming process. Currently, these pipelines are developed with the help of domain experts. Moreover, there is no systematic structure…

Many important problems in science and engineering, such as drug design, involve optimizing an expensive black-box objective function over a complex, high-dimensional, and structured input space. Although machine learning techniques have…

We explore how to build a vector field from the various functions involved in a given mathematical program, and show that locally-stable equilibria of the underlying dynamical system are precisely the local solutions of the optimization…

The seasonal production of fruit and seeds resembles opening a feeding station, such as a restaurant agents/ customers will arrive at a certain rate and pick fruit (get served) at a certain rate following some appropriate processes.…

The problem of reinforcement learning is considered where the environment or the model undergoes a change. An algorithm is proposed that an agent can apply in such a problem to achieve the optimal long-time discounted reward. The algorithm…

We propose a semiparametric model for autonomous nonlinear dynamical systems and devise an estimation procedure for model fitting. This model incorporates subject-specific effects and can be viewed as a nonlinear semiparametric mixed…

We consider the fundamental problem of designing a self-adjusting tree, which efficiently and locally adapts itself towards the demand it serves (namely accesses to the items stored by the tree nodes), striking a balance between the…

The adoption of the distributed paradigm has allowed applications to increase their scalability, robustness and fault tolerance, but it has also complicated their structure, leading to an exponential growth of the applications'…

Recent advances in implicit neural representations show great promise when it comes to generating numerical solutions to partial differential equations. Compared to conventional alternatives, such representations employ parameterized neural…

We introduce PatternBoost, a flexible method for finding interesting constructions in mathematics. Our algorithm alternates between two phases. In the first ``local'' phase, a classical search algorithm is used to produce many desirable…

We study the problem of learning a good search policy for combinatorial search spaces. We propose retrospective imitation learning, which, after initial training by an expert, improves itself by learning from \textit{retrospective…

This paper investigates a new class of modifier-adaptation schemes to overcome plant-model mismatch in real-time optimization of uncertain processes. The main contribution lies in the integration of concepts from the areas of Bayesian…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

In this work, a neural network is trained to replicate the code that trains it using only its own output as input. A paradigm for evolutionary self-replication in neural programs is introduced, where program parameters are mutated, and the…