相关论文: Active Inference Tree Search in Large POMDPs

Over the last 10 to 15 years, active inference has helped to explain various brain mechanisms from habit formation to dopaminergic discharge and even modelling curiosity. However, the current implementations suffer from an exponential…

Active inference is a state-of-the-art framework for modelling the brain that explains a wide range of mechanisms such as habit formation, dopaminergic discharge and curiosity. However, recent implementations suffer from an exponential…

We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…

Online solvers for partially observable Markov decision processes have difficulty scaling to problems with large action spaces. This paper proposes a method called PA-POMCPOW to sample a subset of the action space that provides varying…

Active Inference, grounded in the Free Energy Principle, provides a powerful lens for understanding how agents balance exploration and goal-directed behavior in uncertain environments. Here, we propose a new planning framework, that…

Efficiently locating target objects in complex indoor environments with diverse furniture, such as shelves, tables, and beds, is a significant challenge for mobile robots. This difficulty arises from factors like localization errors,…

Large Language Models have excelled in remarkable reasoning capabilities with advanced prompting techniques, but they fall short on tasks that require exploration, strategic foresight, and sequential decision-making. Recent works propose to…

High-dimensional design spaces underpin a wide range of physics-based modeling and computational design tasks in science and engineering. These problems are commonly formulated as constrained black-box searches over rugged objective…

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the…

Large language models (LLMs) have demonstrated impressive capability in reasoning and planning when integrated with tree-search-based prompting methods. However, since these methods ignore the previous search experiences, they often make…

The design of autonomous agents that can interact effectively with other agents without prior coordination is a core problem in multi-agent systems. Type-based reasoning methods achieve this by maintaining a belief over a set of potential…

We present Model Predictive Trees (MPT), a receding horizon tree search algorithm that improves its performance by reusing information efficiently. Whereas existing solvers reuse only the highest-quality trajectory from the previous…

Solving Partially Observable Markov Decision Processes (POMDPs) with continuous actions is challenging, particularly for high-dimensional action spaces. To alleviate this difficulty, we propose a new sampling-based online POMDP solver,…

Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this…

We investigate improving Monte Carlo Tree Search based solvers for Partially Observable Markov Decision Processes (POMDPs), when applied to adaptive sampling problems. We propose improvements in rollout allocation, the action exploration…

We consider the problem of actively learning an unknown binary decision tree using only membership queries, a setting in which the learner must reason about a large hypothesis space while maintaining formal guarantees. Rather than…

The POMDP is a powerful framework for reasoning under outcome and information uncertainty, but constructing an accurate POMDP model is difficult. Bayes-Adaptive Partially Observable Markov Decision Processes (BA-POMDPs) extend POMDPs to…

We introduce inference trees (ITs), a new class of inference methods that build on ideas from Monte Carlo tree search to perform adaptive sampling in a manner that balances exploration with exploitation, ensures consistency, and alleviates…

Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…

The Partially Observable Markov Decision Process (POMDP) is a powerful framework for capturing decision-making problems that involve state and transition uncertainty. However, most current POMDP planners cannot effectively handle…