相关论文: GUTS: Generalized Uncertainty-Aware Thompson Sampl…

Languages for open-universe probabilistic models (OUPMs) can represent situations with an unknown number of objects and iden- tity uncertainty. While such cases arise in a wide range of important real-world appli- cations, existing general…

We study the problem of online multi-task learning where the tasks are performed within similar but not necessarily identical multi-armed bandit environments. In particular, we study how a learner can improve its overall performance across…

In the face of uncertainty, the ability to *seek information* is of fundamental importance. In many practical applications, such as medical diagnosis and troubleshooting, the information needed to solve the task is not initially given and…

Reinforcement finetuning (RFT) is a key technique for aligning Large Language Models (LLMs) with human preferences and enhancing reasoning, yet its effectiveness is highly sensitive to which tasks are explored during training. Uniform task…

We consider the problem of Active Search, where a maximum of relevant objects - ideally all relevant objects - should be retrieved with the minimum effort or minimum time. Typically, there are two main challenges to face when tackling this…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

Thompson sampling is an efficient algorithm for sequential decision making, which exploits the posterior uncertainty to address the exploration-exploitation dilemma. There has been significant recent interest in integrating Bayesian neural…

This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…

We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…

We propose ${\tt AdaTS}$, a Thompson sampling algorithm that adapts sequentially to bandit tasks that it interacts with. The key idea in ${\tt AdaTS}$ is to adapt to an unknown task prior distribution by maintaining a distribution over its…

Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…

We present a novel approach to template matching that is efficient, can handle partial occlusions, and comes with provable performance guarantees. A key component of the method is a reduction that transforms the problem of searching a…

Object search in large-scale, unstructured environments remains a fundamental challenge in robotics, particularly in dynamic or expansive settings such as outdoor autonomous exploration. This task requires robust spatial reasoning and the…

Multi-agent coordination is prevalent in many real-world applications. However, such coordination is challenging due to its combinatorial nature. An important observation in this regard is that agents in the real world often only directly…

Designing efficient exploration is central to Reinforcement Learning due to the fundamental problem posed by the exploration-exploitation dilemma. Bayesian exploration strategies like Thompson Sampling resolve this trade-off in a principled…

Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…

Pursuit-evasion is a multi-agent sequential decision problem wherein a group of agents known as pursuers coordinate their traversal of a spatial domain to locate an agent trying to evade them. Pursuit evasion problems arise in a number of…

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…

Efficient exploration in bandits is a fundamental online learning problem. We propose a variant of Thompson sampling that learns to explore better as it interacts with bandit instances drawn from an unknown prior. The algorithm meta-learns…

Out-of-scope (OOS) intent detection is a critical challenge in task-oriented dialogue systems (TODS), as it ensures robustness to unseen and ambiguous queries. In this work, we propose a novel but simple modular framework that combines…