相关论文: Flexible and Efficient Long-Range Planning Through…

Model-based reinforcement learning algorithms with probabilistic dynamical models are amongst the most data-efficient learning methods. This is often attributed to their ability to distinguish between epistemic and aleatoric uncertainty.…

In ports, a variety of tasks are carried out, and scheduling these tasks is crucial due to its significant impact on productivity, making the generation of precise plans essential. This study proposes a method to solve the Quay Crane…

Although deep reinforcement learning (DRL) algorithms have made important achievements in many control tasks, they still suffer from the problems of sample inefficiency and unstable training process, which are usually caused by sparse…

In our previous work, we designed a systematic policy to prioritize sampling locations to lead significant accuracy improvement in spatial interpolation by using the prediction uncertainty of Gaussian Process Regression (GPR) as "attraction…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…

Reinforcement Learning (RL) is crucial for unlocking the complex reasoning capabilities of Diffusion-based Large Language Models (dLLMs). However, applying RL to dLLMs faces unique challenges in efficiency and stability. To address these…

Many challenging real-world problems require the deployment of ensembles multiple complementary learning models to reach acceptable performance levels. While effective, applying the entire ensemble to every sample is costly and often…

This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active…

We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…

Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…

Deep reinforcement learning (DRL) has gained great success by learning directly from high-dimensional sensory inputs, yet is notorious for the lack of interpretability. Interpretability of the subtasks is critical in hierarchical…

Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few training examples and applied to an entire domain of problems.…

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…

Developing an agent in reinforcement learning (RL) that is capable of performing complex control tasks directly from high-dimensional observation such as raw pixels is yet a challenge as efforts are made towards improving sample efficiency…

Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been recently proposed to synthesize controllers for…

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language…

Large Language Models (LLMs) have achieved significant advances in reasoning tasks. A key approach is tree-based search with verifiers, which expand candidate reasoning paths and use reward models to guide pruning and selection. Although…

The scheduling of production resources (such as associating jobs to machines) plays a vital role for the manufacturing industry not only for saving energy but also for increasing the overall efficiency. Among the different job scheduling…

Continual learning (CL) aims to acquire new knowledge while preserving information from previous experiences without forgetting. Though buffer-based methods (i.e., retaining samples from previous tasks) have achieved acceptable performance,…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…