相关论文: TOMA: Topological Map Abstraction for Reinforcemen…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

Recent advances in neural neighborhood search methods have shown potential in tackling Vehicle Routing Problems (VRPs). However, most existing approaches rely on simplistic state representations and fuse heterogeneous information via naive…

Topological Data Analysis (TDA) has been praised by researchers for its ability to capture intricate shapes and structures within data. TDA is considered robust in handling noisy and high-dimensional datasets, and its interpretability is…

Graph generation is a fundamental task with broad applications, such as drug discovery. Recently, discrete flow matching-based graph generation, \aka, graph flow model (GFM), has emerged due to its superior performance and flexible…

Robot autonomy in space environments presents unique challenges, including high perception and motion uncertainty, strict kinematic constraints, and limited opportunities for human intervention. Therefore, Task and Motion Planning (TMP) may…

Online map matching is a fundamental problem in location-based services, aiming to incrementally match trajectory data step-by-step onto a road network. However, existing methods fail to meet the needs for efficiency, robustness, and…

We introduce an algorithm for model-based hierarchical reinforcement learning to acquire self-contained transition and reward models suitable for probabilistic planning at multiple levels of abstraction. We call this framework Planning with…

The self-organizing map (SOM) is an unsupervised artificial neural network that is widely used in, e.g., data mining and visualization. Supervised and semi-supervised learning methods have been proposed for the SOM. However, their teacher…

We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While…

Large language models (LLMs) are increasingly used as interactive agents, but optimizing them for long-horizon decision making remains difficult because current methods are largely purely reactive, which weakens both exploration and credit…

Intrinsically motivated exploration has proven useful for reinforcement learning, even without additional extrinsic rewards. When the environment is naturally represented as a graph, how to guide exploration best remains an open question.…

In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…

Animals and robots navigate through environments by building and refining maps of space. These maps enable functions including navigation back to home, planning, search and foraging. Here, we use observations from neuroscience, specifically…

Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the high-dimension motion…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

In this study, we present and analyze a framework for geometric and topological estimation for mapping of unknown environments. We consider agents mimicking motion behaviors of cyborg insects, known as biobots, and exploit coordinate-free…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Efficient topology optimization based on the adaptive auxiliary reduced model reanalysis (AARMR) is proposed to improve computational efficiency and scale. In this method, a projection auxiliary reduced model (PARM) is integrated into the…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

In reinforcement learning, the graph Laplacian has proved to be a valuable tool in the task-agnostic setting, with applications ranging from skill discovery to reward shaping. Recently, learning the Laplacian representation has been framed…