相关论文: R2: Heuristic Bug-Based Any-angle Path-Planning us…

This paper investigates the problem of active learning for binary label prediction on a graph. We introduce a simple and label-efficient algorithm called S2 for this task. At each step, S2 selects the vertex to be labeled based on the…

Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…

Path planning is a fundamental scientific problem in robotics and autonomous navigation, requiring the derivation of efficient routes from starting to destination points while avoiding obstacles. Traditional algorithms like A* and its…

Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…

Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…

Heuristic search-based planning techniques are commonly used for motion planning on discretized spaces. The performance of these algorithms is heavily affected by the resolution at which the search space is discretized. Typically a fixed…

In recent years, text-aware collaborative filtering methods have been proposed to address essential challenges in recommendations such as data sparsity, cold start problem, and long-tail distribution. However, many of these text-oriented…

We provide a framework for accelerating reinforcement learning (RL) algorithms by heuristics constructed from domain knowledge or offline data. Tabula rasa RL algorithms require environment interactions or computation that scales with the…

Real-time heuristic search algorithms satisfy a constant bound on the amount of planning per action, independent of problem size. As a result, they scale up well as problems become larger. This property would make them well suited for video…

We introduce AdaSub, a stochastic optimization algorithm that computes a search direction based on second-order information in a low-dimensional subspace that is defined adaptively based on available current and past information. Compared…

We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…

Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…

Repairing RTL bugs is crucial for hardware design and verification. Traditional automatic program repair (APR) methods define dedicated search spaces to locate and fix bugs with program synthesis. However, they heavily rely on fixed…

LAMA is a classical planning system based on heuristic forward search. Its core feature is the use of a pseudo-heuristic derived from landmarks, propositional formulas that must be true in every solution of a planning task. LAMA builds on…

A good state representation is crucial to solving complicated reinforcement learning (RL) challenges. Many recent works focus on designing auxiliary losses for learning informative representations. Unfortunately, these handcrafted…

Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…

Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rule-based planners. Nonetheless, data-driven approaches often…

Sampling-based path planning algorithms play an important role in autonomous robotics. However, a common problem among these algorithms is that the initial path generated is not optimal, and the convergence is too slow for real-world…