相关论文: Learning Safe Numeric Planning Action Models

Many sequential decision-making problems that are currently automated, such as those in manufacturing or recommender systems, operate in an environment where there is either little uncertainty, or zero risk of catastrophe. As companies and…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…

We present RoboArm-NMP, a learning and evaluation environment that allows simple and thorough evaluations of Neural Motion Planning (NMP) algorithms, focused on robotic manipulators. Our Python-based environment provides baseline…

Fine-tuning pre-trained models has been ubiquitously proven to be effective in a wide range of NLP tasks. However, fine-tuning the whole model is parameter inefficient as it always yields an entirely new model for each task. Currently, many…

We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains…

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…

Targeting solutions over `flat' regions of the loss landscape, sharpness-aware minimization (SAM) has emerged as a powerful tool to improve generalizability of deep neural network based learning. While several SAM variants have been…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

We propose a neural network-based approach that computes a stable and generalizing metric (LSiM) to compare data from a variety of numerical simulation sources. We focus on scalar time-dependent 2D data that commonly arises from motion and…

This paper puts forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unbounded number of exploratory trials. This is indeed possible,…

Deep neural networks often suffer from poor generalization due to complex and non-convex loss landscapes. Sharpness-Aware Minimization (SAM) is a popular solution that smooths the loss landscape by minimizing the maximized change of…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

There is increasing awareness in the planning community that the burden of specifying complete domain models is too high, which impedes the applicability of planning technology in many real-world domains. Although there have many learning…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

A main focus of machine learning research has been improving the generalization accuracy and efficiency of prediction models. Many models such as SVM, random forest, and deep neural nets have been proposed and achieved great success.…

Neurosymbolic AI combines neural network adaptability with symbolic reasoning, promising an approach to address the complex regulatory, operational, and safety challenges in Advanced Air Mobility (AAM). This survey reviews its applications…

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the…

Planning is concerned with the automated solution of action sequencing problems described in declarative languages giving the action preconditions and effects. One important application area for such technology is the creation of new…