相关论文: Efficient Belief Space Planning in High-Dimensiona…

Propagating state distributions through a generic, uncertain nonlinear dynamical model is known to be intractable and usually begets numerical or analytical approximations. We introduce a method for state prediction, called the…

We revisit the problem of physics-informed regression, and propose a method that directly computes the state at the prediction point, simultaneously with the derivative and curvature information of the existing samples. We frame each…

Conformal prediction has emerged as a powerful framework for constructing distribution-free prediction sets with guaranteed coverage assuming only the exchangeability assumption. However, this assumption is often violated in online…

We consider the optimal value of information (VoI) problem, where the goal is to sequentially select a set of tests with a minimal cost, so that one can efficiently make the best decision based on the observed outcomes. Existing algorithms…

This study develops a deep learning-based approach to automate inbound load plan adjustments for a large transportation and logistics company. It addresses a critical challenge for the efficient and resilient planning of E-commerce…

Proximal Policy Optimization (PPO) is widely used in continuous control due to its robustness and stable training, yet it remains sample-inefficient in tasks with expensive interactions and high-dimensional action spaces. This paper…

In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning system for automated driving, and is extensively validated in…

When allowing concurrent actions in Markov Decision Processes, whose state and action spaces grow exponentially in the number of objects, computing a policy becomes highly inefficient, as it requires enumerating the joint of the two spaces.…

We study the problem of eliciting the preferences of a decision-maker through a moderate number of pairwise comparison queries to make them a high quality recommendation for a specific problem. We are motivated by applications in high…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

We consider a stochastic lost-sales inventory control system with a lead time $L$ over a planning horizon $T$. Supply is uncertain, and is a function of the order quantity (due to random yield/capacity, etc). We aim to minimize the…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

Discovering useful temporal abstractions, in the form of options, is widely thought to be key to applying reinforcement learning and planning to increasingly complex domains. Building on the empirical success of the Expert Iteration…

Data selection is a critical aspect of Reinforcement Learning with Verifiable Rewards (RLVR) for enhancing the reasoning capabilities of large language models (LLMs). Current data selection methods are largely heuristic-based, lacking…

Efficient planning plays a crucial role in model-based reinforcement learning. Traditionally, the main planning operation is a full backup based on the current estimates of the successor states. Consequently, its computation time is…

Smoothed online combinatorial optimization considers a learner who repeatedly chooses a combinatorial decision to minimize an unknown changing cost function with a penalty on switching decisions in consecutive rounds. We study smoothed…

Real-world multiobjective optimization problems usually involve conflicting objectives that change over time, which requires the optimization algorithms to quickly track the Pareto optimal front (POF) when the environment changes. In recent…

Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of…

This paper develops a flexibility management framework for space logistics mission planning under uncertainty through decision rules and multi-stage stochastic programming. It aims to add built-in flexibility to space architectures in the…