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

Monte Carlo Tree Search (MCTS), which leverages Upper Confidence Bound for Trees (UCTs) to balance exploration and exploitation through randomized sampling, is instrumental to solving complex planning problems. However, for multi-agent…

A commonly used technique for managing AI complexity in real-time strategy (RTS) games is to use action and/or state abstractions. High-level abstractions can often lead to good strategic decision making, but tactical decision quality may…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

AlphaZero in 2017 was able to master chess and other games without human knowledge by playing millions of games against itself (self-play), with a computation budget running in the tens of millions of dollars. It used a variant of the Monte…

Tree-based models are widely recognized for their interpretability and have proven effective in various application domains, particularly in high-stakes domains. However, learning decision trees (DTs) poses a significant challenge due to…

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Recently, the seminal algorithms AlphaGo and AlphaZero have started a new era in game learning and deep reinforcement learning. While the achievements of AlphaGo and AlphaZero - playing Go and other complex games at super human level - are…

Monte Carlo Tree Search (MCTS) algorithms such as AlphaGo and MuZero have achieved superhuman performance in many challenging tasks. However, the computational complexity of MCTS-based algorithms is influenced by the size of the search…

The fast-growing demand for fully autonomous aerial operations in shared spaces necessitates developing trustworthy agents that can safely and seamlessly navigate in crowded, dynamic spaces. In this work, we propose Social Robot Tree Search…

Robots often have to operate in discrete partially observable worlds, where the states of world are only observable at runtime. To react to different world states, robots need contingencies. However, computing contingencies is costly and…

Mathematical reasoning presents significant challenges for large language models (LLMs). To enhance their capabilities, we propose Monte Carlo Self-Refine Tree (MC-NEST), an extension of Monte Carlo Tree Search that integrates LLM-based…

Large Language Model (LLM) agents are increasingly applied to complex, multi-step tasks that require interaction with diverse external tools across various domains. However, current LLM agent tool planning methods typically rely on greedy,…

In many risk-aware and multi-objective reinforcement learning settings, the utility of the user is derived from a single execution of a policy. In these settings, making decisions based on the average future returns is not suitable. For…

We present an extension of Monte Carlo Tree Search (MCTS) that strongly increases its efficiency for trees with asymmetry and/or loops. Asymmetric termination of search trees introduces a type of uncertainty for which the standard upper…

Despite recent advancements in offline multi-task reinforcement learning (MTRL) have harnessed the powerful capabilities of the Transformer architecture, most approaches focus on a limited number of tasks, with scaling to extremely massive…

Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method…

Deep Neural Networks (DNNs) have achieved remarkable success in a variety of tasks, especially when it comes to prediction accuracy. However, in complex real-world scenarios, particularly in safety-critical applications, high accuracy alone…

In this paper we propose a synergistic melting of neural networks and decision trees (DT) we call neural decision trees (NDT). NDT is an architecture a la decision tree where each splitting node is an independent multilayer perceptron…

Mixed-precision quantization is a powerful tool to enable memory and compute savings of neural network workloads by deploying different sets of bit-width precisions on separate compute operations. In this work, we present a flexible and…