相关论文: Neural Tree Expansion for Multi-Robot Planning in …

In this paper we explore the application of simultaneous move Monte Carlo Tree Search (MCTS) based online framework for tactical maneuvering between two unmanned aircrafts. Compared to other techniques, MCTS enables efficient search over…

This paper introduces COR-MCTS (Conservation of Resources - Monte Carlo Tree Search), a novel tactical decision-making approach for automated driving focusing on maneuver planning over extended horizons. Traditional decision-making…

Policy gradient (PG) is a reinforcement learning (RL) approach that optimizes a parameterized policy model for an expected return using gradient ascent. While PG can work well even in non-Markovian environments, it may encounter plateaus or…

For UAV-aided wireless systems, online path planning attracts much attention recently. To better adapt to the real-time dynamic environment, we, for the first time, propose a Monte Carlo Tree Search (MCTS)-based path planning scheme. In…

Large Language Models (LLM) are increasingly being explored for problem-solving tasks. However, their strategic planning capability is often viewed with skepticism. Recent studies have incorporated the Monte Carlo Tree Search (MCTS)…

This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory optimization algorithm to evaluate the dynamic feasibility of…

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

Distributed machine learning is becoming increasingly popular for geo-distributed data analytics, facilitating the collaborative analysis of data scattered across data centers in different regions. This paradigm eliminates the need for…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

The goal of protein design is to generate amino acid sequences that fold into functional structures with desired properties. Prior methods combining autoregressive language models with Monte Carlo Tree Search (MCTS) struggle with long-range…

Bayes-optimal behavior, while well-defined, is often difficult to achieve. Recent advances in the use of Monte-Carlo tree search (MCTS) have shown that it is possible to act near-optimally in Markov Decision Processes (MDPs) with very large…

Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Translation-Invariant Edge Bundles or KiTE-Extend, a…

We introduce a recursive AlphaZero-style Monte--Carlo tree search algorithm, "RMCTS". The advantage of RMCTS over AlphaZero's MCTS-UCB is speed. In RMCTS, the search tree is explored in a breadth-first manner, so that network inferences…

Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…

Making changes to a program to optimize its performance is an unscalable task that relies entirely upon human intuition and experience. In addition, companies operating at large scale are at a stage where no single individual understands…

We study the problem of collective tree exploration (CTE) where a team of $k$ agents is tasked to traverse all the edges of an unknown tree as fast as possible, assuming complete communication between the agents. In this paper, we present…

Recent advancements in large language models (LLMs) have shown remarkable potential in automating machine learning tasks. However, existing LLM-based agents often struggle with low-diversity and suboptimal code generation. While recent work…

Monte Carlo Tree Search (MCTS) methods have achieved great success in many Artificial Intelligence (AI) benchmarks. The in-tree operations become a critical performance bottleneck in realizing parallel MCTS on CPUs. In this work, we develop…

In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments.…

Monte Carlo Tree Search (MCTS) is a powerful approach to designing game-playing bots or solving sequential decision problems. The method relies on intelligent tree search that balances exploration and exploitation. MCTS performs random…