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

This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonly used sequential trajectories for partially observable robotic planning problems. In such environments, a robot infers knowledge…

Online planning in Markov Decision Processes (MDPs) enables agents to make sequential decisions by simulating future trajectories from the current state, making it well-suited for large-scale or dynamic environments. Sample-based methods…

Devising intelligent robots or agents that interact with humans is a major challenge for artificial intelligence. In such contexts, agents must constantly adapt their decisions according to human activities and modify their goals. In this…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

Responsibility attribution is a key concept of accountable multi-agent decision making. Given a sequence of actions, responsibility attribution mechanisms quantify the impact of each participating agent to the final outcome. One such…

This paper proposes a reinforcement learning method for controller synthesis of autonomous systems in unknown and partially-observable environments with subjective time-dependent safety constraints. Mathematically, we model the system…

Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to maintain robustness to changing dynamics or modeling errors.…

Heuristic search solvers like RTDP-Bel and LAO* have proven effective for computing optimal and bounded sub-optimal solutions for Partially Observable Markov Decision Processes (POMDPs), which are typically formulated as belief MDPs. A…

We study model-based learning of finite-window policies in tabular partially observable Markov decision processes (POMDPs). A common approach to learning under partial observability is to approximate unbounded history dependencies using…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

Sequential decision-making under uncertainty is present in many important problems. Two popular approaches for tackling such problems are reinforcement learning and online search (e.g., Monte Carlo tree search). While the former learns a…

Managing announced task completion times is a fundamental control problem in project management. While extensive research exists on estimating task durations and task scheduling, the problem of when and how to update completion times…

Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…

This paper proposes a formal approach to online learning and planning for agents operating in a priori unknown, time-varying environments. The proposed method computes the maximally likely model of the environment, given the observations…

Model-based offline reinforcement learning (RL) aims to find highly rewarding policy, by leveraging a previously collected static dataset and a dynamics model. While the dynamics model learned through reuse of the static dataset, its…

In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometries, road constructions, traffic regulations and moving…

We introduce a Transformer-based Reinforcement Learning framework for autonomous orbital collision avoidance that explicitly models the effects of partial observability and imperfect monitoring in space operations. The framework combines a…

Recent advances have witnessed the effectiveness of reinforcement learning (RL) finetuning in enhancing the reasoning capabilities of large language models (LLMs). The optimization process often requires numerous iterations to achieve…

Human intention prediction provides an augmented solution for the design of assistants and collaboration between the human driver and intelligent vehicles. In this study, a multi-task sequential learning framework is developed to predict…