相关论文: Learning Online Belief Prediction for Efficient PO…

We consider online reinforcement learning in episodic Markov decision process (MDP) with unknown transition function and stochastic rewards drawn from some fixed but unknown distribution. The learner aims to learn the optimal policy and…

Autonomous agents that operate in the real world must often deal with partial observability, which is commonly modeled as partially observable Markov decision processes (POMDPs). However, traditional POMDP models rely on the assumption of…

Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC system to complete complex tasks specified using temporal logic…

The partially observable Markov decision process (POMDP) provides a principled general framework for planning under uncertainty, but solving POMDPs optimally is computationally intractable, due to the "curse of dimensionality" and the…

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…

Partially Observable Markov Decision Processes (POMDPs) are a powerful framework for planning under uncertainty. They allow to model state uncertainty as a belief probability distribution. Approximate solvers based on Monte Carlo sampling…

Strategic mine production scheduling under geological uncertainty is conventionally formulated as a stochastic optimization problem in which a fixed extraction sequence and routing decisions are computed ex ante. This plan-driven paradigm…

Partially Observable Markov Decision Processes (POMDPs) are notoriously hard to solve. Most advanced state-of-the-art online solvers leverage ideas of Monte Carlo Tree Search (MCTS). These solvers rapidly converge to the most promising…

We present MBAPPE, a novel approach to motion planning for autonomous driving combining tree search with a partially-learned model of the environment. Leveraging the inherent explainable exploration and optimization capabilities of the…

Offline reinforcement learning (RL) is a powerful approach for data-driven decision-making and control. Compared to model-free methods, offline model-based reinforcement learning (MBRL) explicitly learns world models from a static dataset…

With the aim of improving performance in Markov Decision Problem in an Off-Policy setting, we suggest taking inspiration from what is done in Offline Reinforcement Learning (RL). In Offline RL, it is a common practice during policy learning…

The partially observable Markov decision process (POMDP) is a principled general framework for robot decision making under uncertainty, but POMDP planning suffers from high computational complexity, when long-term planning is required.…

Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to better comprehend the intentions of the surrounding traffic,…

Partially observable Markov decision processes (POMDPs) are a powerful abstraction for tasks that require decision making under uncertainty, and capture a wide range of real world tasks. Today, effective planning approaches exist that…

In this work, we consider an online robust Markov Decision Process (MDP) where we have the information of finitely many prototypes of the underlying transition kernel. We consider an adaptively updated ambiguity set of the prototypes and…

Large Language Models (LLMs) have shown remarkable capabilities in natural language tasks requiring complex reasoning, yet their application in agentic, multi-step reasoning within interactive environments remains a difficult challenge.…

Optimal plans in Constrained Partially Observable Markov Decision Processes (CPOMDPs) maximize reward objectives while satisfying hard cost constraints, generalizing safe planning under state and transition uncertainty. Unfortunately,…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

Complex behaviors are often driven by an internal model, which integrates sensory information over time and facilitates long-term planning. Inferring an agent's internal model is a crucial ingredient in social interactions (theory of mind),…

Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…