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

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

This article presents MCTS-BN, an adaptation of the Monte Carlo Tree Search (MCTS) algorithm for the structural learning of Bayesian Networks (BNs). Initially designed for game tree exploration, MCTS has been repurposed to address the…

Monte Carlo Tree Search (MCTS) has proven to be capable of solving challenging tasks in domains such as Go, chess and Atari. Previous research has developed parallel versions of MCTS, exploiting today's multiprocessing architectures. These…

Despite their outstanding capabilities, large language models (LLMs) are prone to hallucination and producing factually incorrect information. This challenge has spurred efforts in attributed text generation, which prompts LLMs to generate…

Active Inference, grounded in the Free Energy Principle, provides a powerful lens for understanding how agents balance exploration and goal-directed behavior in uncertain environments. Here, we propose a new planning framework, that…

This paper presents a method for testing the decision making systems of autonomous vehicles. Our approach involves perturbing stochastic elements in the vehicle's environment until the vehicle is involved in a collision. Instead of applying…

Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and…

Dynamic scheduling of access to shared resources by autonomous systems is a challenging problem, characterized as being NP-hard. The complexity of this task leads to a combinatorial explosion of possibilities in highly dynamic systems where…

We present Doubly Robust Monte Carlo Tree Search (DR-MCTS), a novel algorithm that integrates Doubly Robust (DR) off-policy estimation into Monte Carlo Tree Search (MCTS) to enhance sample efficiency and decision quality in complex…

Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often result in inconsistent path quality and limited search…

High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…

We examine a type of modified Monte Carlo Tree Search (MCTS) for strategising in combinatorial games. The modifications are derived by analysing simplified strategies and simplified versions of the underlying game and then using the results…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our…

One of the most important AI research questions is to trade off computation versus performance since ``perfect rationality" exists in theory but is impossible to achieve in practice. Recently, Monte-Carlo tree search (MCTS) has attracted…

Understanding the probabilistic traffic environment is a vital challenge for the motion planning of autonomous vehicles. To make feasible control decisions, forecasting future trajectories of adjacent cars is essential for intelligent…

We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…

Recent advancements in large language models (LLMs) have shown remarkable potential in automating machine learning tasks. However, existing LLM-based agents often struggle with low-diversity and suboptimal code generation. While recent work…

Complex sequential decision-making planning problems, covering infinite states' space have been shown to be solvable by AlphaZero type of algorithms. Such an approach that trains a neural model while simulating projection of futures with a…

Bayesian optimization (BO) is a popular method for computationally expensive black-box optimization. However, traditional BO methods need to solve new problems from scratch, leading to slow convergence. Recent studies try to extend BO to a…