相关论文: Adaptive Discretization using Voronoi Trees for Co…

Many processes, such as discrete event systems in engineering or population dynamics in biology, evolve in discrete space and continuous time. We consider the problem of optimal decision making in such discrete state and action space…

Our goal is to enable robots to plan sequences of tabletop actions to push a block with unknown physical properties to a desired goal pose. We approach this problem by learning the constituent models of a Partially-Observable Markov…

Learning a Markov Decision Process (MDP) from a fixed batch of trajectories is a non-trivial task whose outcome's quality depends on both the amount and the diversity of the sampled regions of the state-action space. Yet, many MDPs are…

In this paper, we propose to compute Voronoi diagrams over mesh surfaces driven by an arbitrary geodesic distance solver, assuming that the input is a triangle mesh as well as a collection of sites $P=\{p_i\}_{i=1}^m$ on the surface. We…

In this paper we focus on the problem of learning online an optimal policy for Active Visual Search (AVS) of objects in unknown indoor environments. We propose POMP++, a planning strategy that introduces a novel formulation on top of the…

Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fall short of preventing safety violations in dynamic…

We study the $(\varepsilon, \delta)$-PAC policy identification problem in finite-horizon episodic Markov Decision Processes. Existing approaches provide finite-time guarantees for approximate settings ($\varepsilon>0$) but suffer from high…

Despite many successful attempts at explaining Deep Reinforcement Learning policies using distillation, it remains difficult to balance the performance-interpretability trade-off and select a fitting surrogate model. In addition to this,…

We present an online planning framework and a new benchmark dataset for solving multi-object rearrangement problems in partially observable, multi-room environments. Current object rearrangement solutions, primarily based on Reinforcement…

Solving partially observable Markov decision processes (POMDPs) is highly intractable in general, at least in part because the optimal policy may be infinitely large. In this paper, we explore the problem of finding the optimal policy from…

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

Medical vision foundation models remain limited in downstream tasks, particularly volumetric medical image segmentation. While fine-tuning on labeled target-domain data improves performance, existing approaches typically rely on randomly…

We study reinforcement learning for controlled diffusion processes with unbounded continuous state spaces, bounded continuous actions, and polynomially growing rewards: settings that arise naturally in finance, economics, and operations…

This work introduces a novel deep learning-based architecture, termed the Deep Belief Markov Model (DBMM), which provides efficient, model-formulation agnostic inference in Partially Observable Markov Decision Process (POMDP) problems. The…

A decision tree is commonly restricted to use a single hyperplane to split the covariate space at each of its internal nodes. It often requires a large number of nodes to achieve high accuracy, hurting its interpretability. In this paper,…

Partially observable Markov decision processes (POMDPs) form an attractive and principled framework for agent planning under uncertainty. Point-based approximate techniques for POMDPs compute a policy based on a finite set of points…

In this paper we address the solution of the popular Wordle puzzle, using new reinforcement learning methods, which apply more generally to adaptive control of dynamic systems and to classes of Partially Observable Markov Decision Process…

In data analysis, there continues to be a need for interpretable dimensionality reduction methods whereby instrinic meaning associated with the data is retained in the reduced space. Standard approaches such as Principal Component Analysis…

Monte Carlo Tree Search (MCTS), most famously used in game-play artificial intelligence (e.g., the game of Go), is a well-known strategy for constructing approximate solutions to sequential decision problems. Its primary innovation is the…

Partially Observable Markov Decision Process (POMDP) is widely used to model probabilistic behavior for complex systems. Compared with MDPs, POMDP models a system more accurate but solving a POMDP generally takes exponential time in the…