相关论文: Using Deep Learning to Bootstrap Abstractions for …

An effective approach to solving long-horizon tasks in robotics domains with continuous state and action spaces is bilevel planning, wherein a high-level search over an abstraction of an environment is used to guide low-level…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

We present a methodology for formulating simplifying abstractions in machine learning systems by identifying and harnessing the utility structure of decisions. Machine learning tasks commonly involve high-dimensional output spaces (e.g.,…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

We are concerned with the question of how an agent can acquire its own representations from sensory data. We restrict our focus to learning representations for long-term planning, a class of problems that state-of-the-art learning methods…

Ground robots which are able to navigate a variety of terrains are needed in many domains. One of the key aspects is the capability to adapt to the ground structure, which can be realized through movable body parts coming along with…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

Autonomous robots operating in dynamic environments must maintain beliefs over a hypothesis space that is rich enough to represent the activities of interest at different scales. This is important both in order to accommodate the…

Competent multi-lane cruising requires using lane changes and within-lane maneuvers to achieve good speed and maintain safety. This paper proposes a design for autonomous multi-lane cruising by combining a hierarchical reinforcement…

We propose a novel hierarchical reinforcement learning framework for control with continuous state and action spaces. In our framework, the user specifies subgoal regions which are subsets of states; then, we (i) learn options that serve as…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

Abstraction of Markov Decision Processes is a useful tool for solving complex problems, as it can ignore unimportant aspects of an environment, simplifying the process of learning an optimal policy. In this paper, we propose a new algorithm…

We introduce a new approach to hierarchy formation and task decomposition in hierarchical reinforcement learning. Our method is based on the Hierarchy Of Abstract Machines (HAM) framework because HAM approach is able to design efficient…

Efficient planning in continuous state and action spaces is fundamentally hard, even when the transition model is deterministic and known. One way to alleviate this challenge is to perform bilevel planning with abstractions, where a…

Abstraction is crucial for effective sequential decision making in domains with large state spaces. In this work, we propose an information bottleneck method for learning approximate bisimulations, a type of state abstraction. We use a deep…

We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…

Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…