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A* is a classic and popular method for graphs search and path finding. It assumes the existence of a heuristic function $h(u,t)$ that estimates the shortest distance from any input node $u$ to the destination $t$. Traditionally, heuristics…

Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…

Path finding in graphs is one of the most studied classes of problems in computer science. In this context, search algorithms are often extended with heuristics for a more efficient search of target nodes. In this work we combine recent…

The A* algorithm is commonly used to solve NP-hard combinatorial optimization problems. When provided with a completely informed heuristic function, A* solves many NP-hard minimum-cost path problems in time polynomial in the branching…

In imitation learning for planning, parameters of heuristic functions are optimized against a set of solved problem instances. This work revisits the necessary and sufficient conditions of strictly optimally efficient heuristics for forward…

Path planning is typically considered in Artificial Intelligence as a graph searching problem and R* is state-of-the-art algorithm tailored to solve it. The algorithm decomposes given path finding task into the series of subtasks each of…

Optimization of heuristic functions for the A* algorithm, realized by deep neural networks, is usually done by minimizing square root loss of estimate of the cost to goal values. This paper argues that this does not necessarily lead to a…

Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…

Efficiently solving problems with large action spaces using A* search remains a significant challenge. This is because, for each iteration of A* search, the number of nodes generated and the number of heuristic function applications grow…

Combining Large Language Models (LLMs) with heuristic search algorithms like A* holds the promise of enhanced LLM reasoning and scalable inference. To accelerate training and reduce computational demands, we investigate the coreset…

In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…

Previous work has shown that the problem of learning the optimal structure of a Bayesian network can be formulated as a shortest path finding problem in a graph and solved using A* search. In this paper, we improve the scalability of this…

We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…

We describe how to convert the heuristic search algorithm A* into an anytime algorithm that finds a sequence of improved solutions and eventually converges to an optimal solution. The approach we adopt uses weighted heuristic search to find…

We study the problem of learning good heuristic functions for classical planning tasks with neural networks based on samples represented by states with their cost-to-goal estimates. The heuristic function is learned for a state space and…

In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…

Heuristic functions are central to the performance of search algorithms such as A-star, where admissibility - the property of never overestimating the true shortest-path cost - guarantees solution optimality. Recent deep learning approaches…

The key to reconciling the polynomial-time intractability of many machine learning tasks in the worst case with the surprising solvability of these tasks by heuristic algorithms in practice seems to be exploiting restrictions on real-world…

The paper presents a comprehensive performance evaluation of some heuristic search algorithms in the context of autonomous systems and robotics. The objective of the study is to evaluate and compare the performance of different search…

A* is a popular path-finding algorithm, but it can only be applied to those domains where a good heuristic function is known. Inspired by recent methods combining Deep Neural Networks (DNNs) and trees, this study demonstrates how to train a…