相关论文: Monte-Carlo Tree Search for Behavior Planning in A…

The combination of Monte-Carlo tree search (MCTS) with deep reinforcement learning has led to significant advances in artificial intelligence. However, AlphaZero, the current state-of-the-art MCTS algorithm, still relies on handcrafted…

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…

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to 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…

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 one of the most-widely used methods for planning, and has powered many recent advances in artificial intelligence. In MCTS, one typically performs computations (i.e., simulations) to collect statistics…

Planning safe trajectories for autonomous vehicles is essential for operational safety but remains extremely challenging due to the complex interactions among traffic participants. Recent autonomous driving frameworks have focused on…

Taking into account future risk is essential for an autonomously operating robot to find online not only the best but also a safe action to execute. In this paper, we build upon the recently introduced formulation of probabilistic…

Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…

Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…

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…

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…

In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved…

In response to the lack of trust in Artificial Intelligence (AI) for sequential planning, we design a Computational Tree Logic-guided large language model (LLM)-based natural language explanation framework designed for the Monte Carlo Tree…

The key to Black-Box Optimization is to efficiently search through input regions with potentially widely-varying numerical properties, to achieve low-regret descent and fast progress toward the optima. Monte Carlo Tree Search (MCTS) methods…

Monte-Carlo Tree Search (MCTS) is a widely-used strategy for online planning that combines Monte-Carlo sampling with forward tree search. Its success relies on the Upper Confidence bound for Trees (UCT) algorithm, an extension of the UCB…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

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…

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…

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…