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

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

Monte Carlo Tree Search (MCTS) methods have achieved great success in many Artificial Intelligence (AI) benchmarks. The in-tree operations become a critical performance bottleneck in realizing parallel MCTS on CPUs. In this work, we develop…

Planning in stochastic and partially observable environments is a central issue in artificial intelligence. One commonly used technique for solving such a problem is by constructing an accurate model firstly. Although some recent approaches…

High-dimensional design spaces underpin a wide range of physics-based modeling and computational design tasks in science and engineering. These problems are commonly formulated as constrained black-box searches over rugged objective…

Monte Carlo Tree Search (MCTS) efficiently balances exploration and exploitation in tree search based on count-derived uncertainty. However, these local visit counts ignore a second type of uncertainty induced by the size of the subtree…

Competitive program generation aims to automatically produce correct and efficient solutions for programming-contest problems under strict time and memory constraints. Existing LLM-based approaches often fail to perform explicit algorithmic…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

The maximum reachability probabilities in a Markov decision process can be computed using value iteration (VI). Recently, simulation-based heuristic extensions of VI have been introduced, such as bounded real-time dynamic programming…

The Constrained Markov Decision Process (CMDP) formulation allows to solve safety-critical decision making tasks that are subject to constraints. While CMDPs have been extensively studied in the Reinforcement Learning literature, little…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…

In this work, we aim to develop an MLLM that understands and solves questions by learning to create each intermediate step of the reasoning involved till the final answer. To this end, we propose Collective Monte Carlo Tree Search (CoMCTS),…

Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…

It is common practice to use large computational resources to train neural networks, as is known from many examples, such as reinforcement learning applications. However, while massively parallel computing is often used for training models,…

Accurate traffic prediction plays a vital role in intelligent transportation systems by enabling efficient routing, congestion mitigation, and proactive traffic control. However, forecasting is challenging due to the combined effects of…

Flexible implementations of Monte Carlo Tree Search (MCTS), combined with domain specific knowledge and hybridization with other search algorithms, can be powerful for finding the solutions to problems in complex planning. We introduce…

Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…

In the world of embedded systems, optimizing actions with the uncertain costs of multiple resources is a complex challenge. Existing methods include plan building based on Monte Carlo Tree Search (MCTS), an approach that thrives in multiple…

We present several modifications to the previously proposed MSPP algorithm that can speed-up its execution considerably. The MSPP algorithm leverages a multiscale representation of the environment in $n$ dimensions. The information of the…