相关论文: Deliberative Acting, Online Planning and Learning …

We present new planning and learning algorithms for RAE, the Refinement Acting Engine. RAE uses hierarchical operational models to perform tasks in dynamically changing environments. Our planning procedure, UPOM, does a UCT-like search in…

Robotic task execution faces challenges due to the inconsistency between symbolic planner models and the rich control structures actually running on the robot. In this paper, we present the first physical deployment of an integrated…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

In this paper, we propose an actor ensemble algorithm, named ACE, for continuous control with a deterministic policy in reinforcement learning. In ACE, we use actor ensemble (i.e., multiple actors) to search the global maxima of the critic.…

Active inference, a neurally-inspired model for inferring actions based on the free energy principle (FEP), has been proposed as a unifying framework for understanding perception, action, and learning in the brain. Active inference has…

Reinforcement learning and symbolic planning have both been used to build intelligent autonomous agents. Reinforcement learning relies on learning from interactions with real world, which often requires an unfeasibly large amount of…

We focus on a simulation-based optimization problem of choosing the best design from the feasible space. Although the simulation model can be queried with finite samples, its internal processing rule cannot be utilized in the optimization…

We study learning control in an online reset-free lifelong learning scenario, where mistakes can compound catastrophically into the future and the underlying dynamics of the environment may change. Traditional model-free policy learning…

Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…

An intelligent agent operating in the real-world must balance achieving its goal with maintaining the safety and comfort of not only itself, but also other participants within the surrounding scene. This requires jointly reasoning about the…

Current model-based reinforcement learning approaches use the model simply as a learned black-box simulator to augment the data for policy optimization or value function learning. In this paper, we show how to make more effective use of the…

Automated planning algorithms require an action model specifying the preconditions and effects of each action, but obtaining such a model is often hard. Learning action models from observations is feasible, but existing algorithms for…

We introduce Recursive Agent Optimization (RAO), a reinforcement learning approach for training recursive agents: agents that can spawn and delegate sub-tasks to new instantiations of themselves recursively. Recursive agents implement an…

An emergency responder management (ERM) system dispatches responders, such as ambulances, when it receives requests for medical aid. ERM systems can also proactively reposition responders between predesignated waiting locations to cover any…

Role-based learning holds the promise of achieving scalable multi-agent learning by decomposing complex tasks using roles. However, it is largely unclear how to efficiently discover such a set of roles. To solve this problem, we propose to…

The evolution of Retrieval-Augmented Generation (RAG) has shifted from static retrieval pipelines to dynamic, agentic workflows where a central planner orchestrates multi-turn reasoning. However, existing paradigms face a critical…

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…

Decision making can be difficult when there are many actors (or agents) who may be coordinating or competing to achieve their various ideas of the optimum outcome. Here I present a simple decision making model with an explicitly…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks. While in the past, robot programs were often written statically and tuned manually, the current, faster transition times call for…

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…