相关论文: Probabilistic contingent planning based on HTN for…

Deploying deep neural networks for risk-sensitive tasks necessitates an uncertainty estimation mechanism. This paper introduces hierarchical selective classification, extending selective classification to a hierarchical setting. Our…

While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and adaptable driving capability. By mimicking humans' cognition…

In this paper, we introduce a new heuristic search algorithm based on mean values for real-time planning, called MHSP. It consists in associating the principles of UCT, a bandit-based algorithm which gave very good results in computer…

Acting to complete tasks in stochastic partially observable domains is an important problem in artificial intelligence, and is often formulated as a goal-based POMDP. Goal-based POMDPs can be solved using the RTDP-BEL algorithm, that…

With the development of 5G, innovative applications requiring bounded transmission delays and zero packet loss emerge, e.g., AR, industrial automation, and smart grid. In this circumstance, time-sensitive networking (TSN) is proposed, which…

This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and…

Automated planning is a major topic of research in artificial intelligence, and enjoys a long and distinguished history. The classical paradigm assumes a distinguished initial state, comprised of a set of facts, and is defined over a set of…

We develop a novel algorithm, Predictive Hierarchical Clustering (PHC), for agglomerative hierarchical clustering of current procedural terminology (CPT) codes. Our predictive hierarchical clustering aims to cluster subgroups, not…

Building robust, interpretable, and secure AI system requires quantifying and representing uncertainty under a probabilistic perspective to mimic human cognitive abilities. However, probabilistic computation presents significant challenges…

Hierarchical feature learning based on convolutional neural networks (CNN) has recently shown significant potential in various computer vision tasks. While allowing high-quality discriminative feature learning, the downside of CNNs is the…

Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…

In Natural Language Processing (NLP), predicting linguistic structures, such as parsing and chunking, has mostly relied on manual annotations of syntactic structures. This paper introduces an unsupervised approach to chunking, a syntactic…

Current state-of-the-art object proposal networks are trained with a closed-world assumption, meaning they learn to only detect objects of the training classes. These models fail to provide high recall in open-world environments where…

We study a multi-objective model on the allocation of reusable resources under model uncertainty. Heterogeneous customers arrive sequentially according to a latent stochastic process, request for certain amounts of resources, and occupy…

General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…

Accurate and efficient estimation of rare events probabilities is of significant importance, since often the occurrences of such events have widespread impacts. The focus in this work is on precisely quantifying these probabilities, often…

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…

We propose a new approach for solving planning problems with a hierarchical structure, fusing reinforcement learning and MPC planning. Our formulation tightly and elegantly couples the two planning paradigms. It leverages reinforcement…

Robotic planning in real-world scenarios typically requires joint optimization of logic and continuous variables. A core challenge to combine the strengths of logic planners and continuous solvers is the design of an efficient interface…

Over the last year, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each…