相关论文: Tactical Patterns for Grassroots Urban Repair

Urban planning refers to the efforts of designing land-use configurations given a region. However, to obtain effective urban plans, urban experts have to spend much time and effort analyzing sophisticated planning constraints based on…

Democracy often fails to meet its ideals, and these failures may be made worse by electoral institutions. Unwanted outcomes include polarized institutions, unresponsive representatives, and the ability of a faction of voters to gain power…

To assist users in complex tasks, LLMs generate plans: step-by-step instructions towards a goal. While alignment methods aim to ensure LLM plans are helpful, they train (RLHF) or evaluate (ChatbotArena) on what users prefer, assuming this…

With the increase of the populations, resources are becoming scarcer, and a smarter way to make use of them becomes a vital necessity of our societies. On the other hand, resource management is traditionally carried out through well…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Complex networks can be used for modeling street meshes and urban agglomerates. With such a model, many aspects of a city can be investigated to promote a better quality of life to its citizens. Along these lines, this paper proposes a set…

Urban planning faces a critical challenge in balancing city-wide infrastructure needs with localized demographic preferences, particularly in rapidly developing regions. Although existing approaches typically focus on top-down optimization…

This paper presents a plan-based architecture for response generation in collaborative consultation dialogues, with emphasis on cases in which the system (consultant) and user (executing agent) disagree. Our work contributes to an overall…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

In Environment Design, one interested party seeks to affect another agent's decisions by applying changes to the environment. Most research on planning environment (re)design assumes the interested party's objective is to facilitate the…

Generative AI offers new opportunities for automating urban planning by creating site-specific urban layouts and enabling flexible design exploration. However, existing approaches often struggle to produce realistic and practical designs at…

Conventional wisdom holds that model-based planning is a powerful approach to sequential decision-making. It is often very challenging in practice, however, because while a model can be used to evaluate a plan, it does not prescribe how to…

People often plan hierarchically. That is, rather than planning over a monolithic representation of a task, they decompose the task into simpler subtasks and then plan to accomplish those. Although much work explores how people decompose…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to be reliable. Meanwhile, learning is useful for adaptation,…

Classical autonomous navigation systems can control robots in a collision-free manner, oftentimes with verifiable safety and explainability. When facing new environments, however, fine-tuning of the system parameters by an expert is…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

Cities are inherently dynamic. Interesting patterns of behavior typically manifest at several key areas of a city over multiple temporal resolutions. Studying these patterns can greatly help a variety of experts ranging from city planners…

Planning with generative models has emerged as an effective decision-making paradigm across a wide range of domains, including reinforcement learning and autonomous navigation. While continuous replanning at each timestep might seem…

Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic…