相关论文: Novelty and Lifted Helpful Actions in Generalized …

Many known planning tasks have inherent constraints concerning the best order in which to achieve the goals. A number of research efforts have been made to detect such constraints and to use them for guiding search, in the hope of speeding…

We develop a new class of model-free deep reinforcement learning algorithms for data-driven, learning-based control. Our Generalized Policy Improvement algorithms combine the policy improvement guarantees of on-policy methods with the…

We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of incremental search algorithms with the evaluation efficiency of…

Landmarks have long played a pivotal role in automated planning, serving as crucial elements for improving the planning algorithms. The main limitation of classical landmark extraction methods is their sensitivity to specific planning…

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 introduce a method for policy improvement that interpolates between the greedy approach of value-based reinforcement learning (RL) and the full planning approach typical of model-based RL. The new method builds on the concept of a…

Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initialization and are potentially time-consuming. As an alternative,…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

We describe the version of the GPT planner used in the probabilistic track of the 4th International Planning Competition (IPC-4). This version, called mGPT, solves Markov Decision Processes specified in the PPDDL language by extracting and…

Generalized singular values (GSVs) play an essential role in the comparative analysis. In the real world data for comparative analysis, both data matrices are usually numerically low-rank. This paper proposes a randomized algorithm to first…

We consider an extension of the set covering problem (SCP) introducing (i)~multicover and (ii)~generalized upper bound (GUB)~constraints. For the conventional SCP, the pricing method has been introduced to reduce the size of instances, and…

We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…

Most popular deep models for action recognition split video sequences into short sub-sequences consisting of a few frames; frame-based features are then pooled for recognizing the activity. Usually, this pooling step discards the temporal…

Even if path planning can be solved using standard techniques from dynamic programming and control, the problem can also be approached using probabilistic inference. The algorithms that emerge using the latter framework bear some appealing…

Heuristic search is a powerful approach for solving planning problems and numeric planning is no exception. In this paper, we boost the performance of heuristic search for numeric planning with various powerful techniques orthogonal to…

Current approaches for learning for planning have yet to achieve competitive performance against classical planners in several domains, and have poor overall performance. In this work, we construct novel graph representations of lifted…

Selecting a solution algorithm for the Facility Layout Problem (FLP), an NP-hard optimization problem with multiobjective trade-off, is a complex task that requires deep expert knowledge. The performance of a given algorithm depends on the…

Dealing with planning problems with both logical relations and numeric changes in real-world dynamic environments is challenging. Existing numeric planning systems for the problem often discretize numeric variables or impose convex…

Flow- and context-sensitive points-to analysis is difficult to scale; for top-down approaches, the problem centers on repeated analysis of the same procedure; for bottom-up approaches, the abstractions used to represent procedure summaries…

Classical planning aims to find a sequence of actions, a plan, that maps a starting state into one of the goal states. If a trajectory appears to be leading to the goal, should we prioritise exploring it? Seminal work in goal recognition…