相关论文: MBAPPE: MCTS-Built-Around Prediction for Planning …

Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to maintain robustness to changing dynamics or modeling errors.…

Continuous transportation of material in the mining industry is achieved by the dispatch of autonomous haul-trucks with discrete haulage capacities. Recently, Monte Carlo Tree Search (MCTS) was successfully deployed in tackling challenges…

Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…

The Job Shop Scheduling Problem (JSSP) is a well-known optimization problem in manufacturing, where the goal is to determine the optimal sequence of jobs across different machines to minimize a given objective. In this work, we focus on…

Adaptive sampling and planning in robotic environmental monitoring are challenging when the target environmental process varies over space and time. The underlying environmental dynamics require the planning module to integrate future…

Standard planners for sequential decision making (including Monte Carlo planning, tree search, dynamic programming, etc.) are constrained by an implicit sequential planning assumption: The order in which a plan is constructed is the same in…

Monte Carlo Tree Search (MCTS) is a powerful algorithm for solving complex decision-making problems. This paper presents an optimized MCTS implementation applied to the FrozenLake environment, a classic reinforcement learning task…

Effective decision-making in autonomous driving relies on accurate inference of other traffic agents' future behaviors. To achieve this, we propose an online belief-update-based behavior prediction model and an efficient planner for…

We propose a provably correct Monte Carlo tree search (MCTS) algorithm for solving risk-aware Markov decision processes (MDPs) with entropic risk measure (ERM) objectives. We provide a non-asymptotic analysis of our proposed algorithm,…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…

Monte Carlo tree search (MCTS) has been successful in a variety of domains, but faces challenges with long-horizon exploration when compared to sampling-based motion planning algorithms like Rapidly-Exploring Random Trees. To address these…

This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonly used sequential trajectories for partially observable robotic planning problems. In such environments, a robot infers knowledge…

The design of autonomous agents that can interact effectively with other agents without prior coordination is a core problem in multi-agent systems. Type-based reasoning methods achieve this by maintaining a belief over a set of potential…

We present TreeIRL, a novel planner for autonomous driving that combines Monte Carlo tree search (MCTS) and inverse reinforcement learning (IRL) to achieve state-of-the-art performance in simulation and in real-world driving. The core idea…

The AutoML task consists of selecting the proper algorithm in a machine learning portfolio, and its hyperparameter values, in order to deliver the best performance on the dataset at hand. Mosaic, a Monte-Carlo tree search (MCTS) based…

Monte Carlo Tree Search (MCTS) is a branch of stochastic modeling that utilizes decision trees for optimization, mostly applied to artificial intelligence (AI) game players. This project imagines a game in which an AI player searches for a…

Leveraging the power of a graph neural network (GNN) with message passing, we present a Monte Carlo Tree Search (MCTS) method to solve stochastic orienteering problems with chance constraints. While adhering to an assigned travel budget the…

Monte-Carlo Tree Search (MCTS) methods, such as Upper Confidence Bound applied to Trees (UCT), are instrumental to automated planning techniques. However, UCT can be slow to explore an optimal action when it initially appears inferior to…

In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate…