相关论文: Safe-Planner: A Single-Outcome Replanner for Compu…

Replanning via determinization is a recent, popular approach for online planning in MDPs. In this paper we adapt this idea to classical, non-stochastic domains with partial information and sensing actions, presenting a new planner: SDR…

The stochastic shortest path problem (SSP) is a highly expressive model for probabilistic planning. The computational hardness of SSPs has sparked interest in determinization-based planners that can quickly solve large problems. However,…

We tackle the problem of planning in nondeterministic domains, by presenting a new approach to conformant planning. Conformant planning is the problem of finding a sequence of actions that is guaranteed to achieve the goal despite the…

Most current planners assume complete domain models and focus on generating correct plans. Unfortunately, domain modeling is a laborious and error-prone task. While domain experts cannot guarantee completeness, often they are able to…

Multi-constraint planning involves identifying, evaluating, and refining candidate plans while satisfying multiple, potentially conflicting constraints. Existing large language model (LLM) approaches face fundamental limitations in this…

We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach…

Domain-independent planning is a hard combinatorial problem. Taking into account plan quality makes the task even more difficult. This article introduces Planning by Rewriting (PbR), a new paradigm for efficient high-quality…

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…

Automated planning is a prominent area of Artificial Intelligence, and an important component for intelligent autonomous agents. A cornerstone of domain-independent planning is the separation between planning logic, i.e. the automated…

Creating a domain model, even for classical, domain-independent planning, is a notoriously hard knowledge-engineering task. A natural approach to solve this problem is to learn a domain model from observations. However, model learning…

The problem of synthesizing stochastic explicit model predictive control policies is known to be quickly intractable even for systems of modest complexity when using classical control-theoretic methods. To address this challenge, we present…

Our goal is to compute a policy that guarantees improved return over a baseline policy even when the available MDP model is inaccurate. The inaccurate model may be constructed, for example, by system identification techniques when the true…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

Dyna-style model-based reinforcement learning contains two phases: model rollouts to generate sample for policy learning and real environment exploration using current policy for dynamics model learning. However, due to the complex…

We study the problem of Safe Policy Improvement (SPI) under constraints in the offline Reinforcement Learning (RL) setting. We consider the scenario where: (i) we have a dataset collected under a known baseline policy, (ii) multiple reward…

In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of…

As penetration testing frameworks have evolved and have become more complex, the problem of controlling automatically the pentesting tool has become an important question. This can be naturally addressed as an attack planning problem.…

Repair mechanisms are important within resilient systems to maintain the system in an operational state after an error occurred. Usually, constraints on the repair mechanisms are imposed, e.g., concerning the time or resources required…

This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), to solve large-scale nonlinear finite-horizon optimal control problems. It can be regarded as an explicit solver of traditional Model…

Existing methods for nonlinear robust control often use scenario-based approaches to formulate the control problem as nonlinear optimization problems. Increasing the number of scenarios improves robustness, while increasing the size of the…