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

When human operators of cyber-physical systems encounter surprising behavior, they often consider multiple hypotheses that might explain it. In some cases, taking information-gathering actions such as additional measurements or control…

This paper proposes an integration of temporal logical reasoning and Partially Observable Markov Decision Processes (POMDPs) to achieve interpretable decision-making under uncertainty with macro-actions. Our method leverages a fragment of…

Trust in autonomy is essential for effective human-robot collaboration and user adoption of autonomous systems such as robot assistants. This paper introduces a computational model which integrates trust into robot decision-making.…

Accurately detecting and predicting lane change (LC)processes of human-driven vehicles can help autonomous vehicles better understand their surrounding environment, recognize potential safety hazards, and improve traffic safety. This paper…

This paper introduces MCTS-EP, an online learning framework that combines large language models (LLM) with Monte Carlo Tree Search (MCTS) for training embodied agents. MCTS-EP integrates three key components: MCTS-guided exploration for…

Uncertainties in dynamic road environments pose significant challenges for behavior and trajectory planning in autonomous driving. This paper introduces Hi-Drive, a hierarchical planning algorithm addressing uncertainties at both behavior…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…

Monte Carlo tree search (MCTS) is one of the most capable online search algorithms for sequential planning tasks, with significant applications in areas such as resource allocation and transit planning. Despite its strong performance in…

In this article, we discuss how to solve information-gathering problems expressed as rho-POMDPs, an extension of Partially Observable Markov Decision Processes (POMDPs) whose reward rho depends on the belief state. Point-based approaches…

Partially Observable Markov Decision Processes (POMDP) is a widely used model to represent the interaction of an environment and an agent, under state uncertainty. Since the agent does not observe the environment state, its uncertainty is…

Online planning in continuous state, action, and observation spaces remains challenging for autonomous systems. While Monte Carlo Tree Search (MCTS) scales effectively via sampling, most continuous (PO)MDP solvers do not exploit…

Recent years have witnessed remarkable progress in autonomous driving, with systems evolving from modular pipelines to end-to-end architectures. However, most existing methods are trained offline and lack mechanisms to adapt to new…

We study how to efficiently combine formal methods, Monte Carlo Tree Search (MCTS), and deep learning in order to produce high-quality receding horizon policies in large Markov Decision processes (MDPs). In particular, we use model-checking…

For UAV-aided wireless systems, online path planning attracts much attention recently. To better adapt to the real-time dynamic environment, we, for the first time, propose a Monte Carlo Tree Search (MCTS)-based path planning scheme. In…

Trajectory prediction is a pivotal component of autonomous driving systems, enabling the application of accumulated movement experience to current scenarios. Although most existing methods concentrate on learning continuous representations…

Partially Observable Markov Decision Processes (POMDPs) are used to model environments where the full state cannot be perceived by an agent. As such the agent needs to reason taking into account the past observations and actions. However,…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

The Partially Observable Markov Decision Process has long been recognized as a rich framework for real-world planning and control problems, especially in robotics. However exact solutions in this framework are typically computationally…

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…

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…