相关论文: Kinodynamic FMT* with Dimensionality Reduction Heu…

Reinforcement learning (RL) in episodic, factored Markov decision processes (FMDPs) is studied. We propose an algorithm called FMDP-BF, which leverages the factorization structure of FMDP. The regret of FMDP-BF is shown to be exponentially…

Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…

Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

It is well known that for any finite state Markov decision process (MDP) there is a memoryless deterministic policy that maximizes the expected reward. For partially observable Markov decision processes (POMDPs), optimal memoryless policies…

The effectiveness of dimensionality reduction with quadratic manifolds hinges on the choice of a reduced basis and the associated quadratic correction terms. Existing approaches typically rely on subspaces spanned by the leading principal…

Parameter-Efficient Fine-Tuning (PEFT) has emerged as a key strategy for adapting large-scale pre-trained models to downstream tasks, but existing approaches face notable limitations. Addition-based methods, such as Adapters, introduce…

We present a new algorithm for probabilistic planning with no observability. Our algorithm, called Probabilistic-FF, extends the heuristic forward-search machinery of Conformant-FF to problems with probabilistic uncertainty about both the…

We study stochastic planning problems in Markov Decision Processes (MDPs) with goals specified in Linear Temporal Logic (LTL). The state-of-the-art approach transforms LTL formulas into good-for-MDP (GFM) automata, which feature a…

Nonnegative matrix factorization (NMF) is a powerful technique for dimension reduction, extracting latent factors and learning part-based representation. For large datasets, NMF performance depends on some major issues: fast algorithms,…

In this article, we propose a new filtering algorithm based in the Koopman operator, showing that a nonlinear filtering problem can be seen as an equivalent problem where the dynamics is infinite dimensional, but linear. Using Extended…

The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimize the cost of the trajectory planned in a cluttered…

Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring…

We propose a framework for modeling and estimating the state of controlled dynamical systems, where an agent can affect the system through actions and receives partial observations. Based on this framework, we propose the Predictive State…

In this work, we explore a data-driven learning-based approach to learning the kinodynamic model of a small autonomous vehicle, and observe the effect it has on motion planning, specifically autonomous drifting. When executing a motion plan…

To continuously generate trajectories for serial manipulators with high dimensional degrees of freedom (DOF) in the dynamic environment, a real-time optimal trajectory generation method based on machine learning aiming at high dimensional…

Adapting Foundation Models (FMs) for downstream tasks through Federated Learning (FL) emerges a promising strategy for protecting data privacy and valuable FMs. Existing methods fine-tune FM by allocating sub-FM to clients in FL, however,…

This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion…

Non-negative matrix factorization (NMF) is a fundamental non-convex optimization problem with numerous applications in Machine Learning (music analysis, document clustering, speech-source separation etc). Despite having received extensive…

Parameter-efficient fine-tuning (PEFT) is an effective methodology to unleash the potential of large foundation models in novel scenarios with limited training data. In the computer vision community, PEFT has shown effectiveness in image…