相关论文: Dream and Search to Control: Latent Space Planning…

We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for…

Iterative methods for computing matrix functions have been extensively studied and their convergence speed can be significantly improved with the right tuning of parameters and by mixing different iteration types. Handtuning the design…

Humans learn to play video games significantly faster than the state-of-the-art reinforcement learning (RL) algorithms. People seem to build simple models that are easy to learn to support planning and strategic exploration. Inspired by…

Popular Monte-Carlo tree search (MCTS) algorithms for online planning, such as epsilon-greedy tree search and UCT, aim at rapidly identifying a reasonably good action, but provide rather poor worst-case guarantees on performance improvement…

Training action space selection for reinforcement learning (RL) is conflict-prone due to complex state-action relationships. To address this challenge, this paper proposes a Shapley-inspired methodology for training action space…

In model-based reinforcement learning (MBRL), Wan et al. (2019) showed conditions under which the environment model could produce the expectation of the next feature vector rather than the full distribution, or a sample thereof, with no…

Monte Carlo Tree Search (MCTS) is an effective test-time compute scaling (TTCS) method for improving the reasoning performance of large language models, but its highly variable execution time leads to severe long-tail latency in practice.…

Deep reinforcement learning (DRL) breaks through the bottlenecks of traditional reinforcement learning (RL) with the help of the perception capability of deep learning and has been widely applied in real-world problems.While model-free RL,…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…

Deep reinforcement learning (DRL) has achieved great successes in recent years with the help of novel methods and higher compute power. However, there are still several challenges to be addressed such as convergence to locally optimal…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

This paper addresses the problem of optimal control using search trees. We start by considering multi-armed bandit problems with continuous action spaces and propose LD-HOO, a limited depth variant of the hierarchical optimistic…

Decision-making under uncertainty (DMU) is present in many important problems. An open challenge is DMU in non-stationary environments, where the dynamics of the environment can change over time. Reinforcement Learning (RL), a popular…

Object rearrangement planning in complex, cluttered environments is a common challenge in warehouses, households, and rescue sites. Prior studies largely address monotone instances, whereas real-world tasks are often non-monotone-objects…

Safe reinforcement learning has many variants and it is still an open research problem. Here, we focus on how to use action guidance by means of a non-expert demonstrator to avoid catastrophic events in a domain with sparse, delayed, and…

In this paper we study the problem of learning multi-step dynamics prediction models (jumpy models) from unlabeled experience and their utility for fast inference of (high-level) plans in downstream tasks. In particular we propose to learn…

Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…

Continuous-time reinforcement learning (CTRL) provides a principled framework for sequential decision-making in environments where interactions evolve continuously over time. Despite its empirical success, the theoretical understanding of…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…