相关论文: Monte-Carlo Tree Search with Prioritized Node Expa…

Recent advances in reasoning with large language models (LLMs) have shown the effectiveness of Monte Carlo Tree Search (MCTS) for generating high quality intermediate trajectories, particularly in math and symbolic domains. Inspired by…

This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…

We present a self-improving, Neural Tree Expansion (NTE) method for multi-robot online planning in non-cooperative environments, where each robot attempts to maximize its cumulative reward while interacting with other self-interested…

Object rearrangement planning in complex, cluttered environments is a common challenge in warehouses, households, and rescue sites. Prior studies largely address monotone instances, whereas real-world tasks are often non-monotone-objects…

In recent years there has been much interest in the Monte Carlo tree search algorithm, a new, adaptive, randomized optimization algorithm. In fields as diverse as Artificial Intelligence, Operations Research, and High Energy Physics,…

Algorithms are the engine for reproducible problem-solving. We present a framework automating algorithm discovery by conceptualizing them as sequences of operations, represented as tokens. These computational tokens are chained using a…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

Deep reinforcement learning has been successfully applied to several visual-input tasks using model-free methods. In this paper, we propose a model-based approach that combines learning a DNN-based transition model with Monte Carlo tree…

Decentralized online planning can be an attractive paradigm for cooperative multi-agent systems, due to improved scalability and robustness. A key difficulty of such approach lies in making accurate predictions about the decisions of other…

We present an extension of Monte Carlo Tree Search (MCTS) that strongly increases its efficiency for trees with asymmetry and/or loops. Asymmetric termination of search trees introduces a type of uncertainty for which the standard upper…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Greedy heuristics may be attuned by looking ahead for each possible choice, in an approach called the rollout or Pilot method. These methods may be seen as meta-heuristics that can enhance (any) heuristic solution, by repetitively modifying…

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved…

Decision tree learning is a widely used approach in machine learning, favoured in applications that require concise and interpretable models. Heuristic methods are traditionally used to quickly produce models with reasonably high accuracy.…

Tree-based models have proven to be an effective solution for web ranking as well as other problems in diverse domains. This paper focuses on optimizing the runtime performance of applying such models to make predictions, given an…

Building agents based on tree-search planning capabilities with learned models has achieved remarkable success in classic decision-making problems, such as Go and Atari. However, it has been deemed challenging or even infeasible to extend…

Text-based games provide valuable environments for language-based autonomous agents. However, planning-then-learning paradigms, such as those combining Monte Carlo Tree Search (MCTS) and reinforcement learning (RL), are notably…

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…

Humanoid robots must master numerous tasks with sparse rewards, posing a challenge for reinforcement learning (RL). We propose a method combining RL and automated planning to address this. Our approach uses short goal-conditioned policies…

In this work, we consider the problem of autonomous exploration in search of targets while respecting a fixed energy budget. The robot is equipped with an incremental-resolution symbolic perception module wherein the perception of targets…