相关论文: Speeding Up Path Planning via Reinforcement Learni…

In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…

One of the most important AI research questions is to trade off computation versus performance since ``perfect rationality" exists in theory but is impossible to achieve in practice. Recently, Monte-Carlo tree search (MCTS) has attracted…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

We present TreeIRL, a novel planner for autonomous driving that combines Monte Carlo tree search (MCTS) and inverse reinforcement learning (IRL) to achieve state-of-the-art performance in simulation and in real-world driving. The core idea…

Dynamic job shop scheduling, a fundamental combinatorial optimisation problem in various industrial sectors, poses substantial challenges for effective scheduling due to frequent disruptions caused by the arrival of new jobs.…

Decentralized online planning can be an attractive paradigm for cooperative multi-agent systems, due to improved scalability and robustness. A key difficulty of such approach lies in making accurate predictions about the decisions of other…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

Policy gradient (PG) is a reinforcement learning (RL) approach that optimizes a parameterized policy model for an expected return using gradient ascent. While PG can work well even in non-Markovian environments, it may encounter plateaus or…

This paper proposes a novel multiple-input multiple-output (MIMO) symbol detector that incorporates a deep reinforcement learning (DRL) agent into the Monte Carlo tree search (MCTS) detection algorithm. We first describe how the MCTS…

Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…

We study how a Reinforcement Learning (RL) system can remain sample-efficient when learning from an imperfect model of the environment. This is particularly challenging when the learning system is resource-constrained and in continual…

Multi-agent reinforcement learning (MARL) algorithms have accomplished remarkable breakthroughs in solving large-scale decision-making tasks. Nonetheless, most existing MARL algorithms are model-free, limiting sample efficiency and…

In this paper we explore the application of simultaneous move Monte Carlo Tree Search (MCTS) based online framework for tactical maneuvering between two unmanned aircrafts. Compared to other techniques, MCTS enables efficient search over…

Active Inference, grounded in the Free Energy Principle, provides a powerful lens for understanding how agents balance exploration and goal-directed behavior in uncertain environments. Here, we propose a new planning framework, that…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

Monte Carlo Tree Search (MCTS) methods have achieved great success in many Artificial Intelligence (AI) benchmarks. The in-tree operations become a critical performance bottleneck in realizing parallel MCTS on CPUs. In this work, we develop…

Deep reinforcement learning (DRL) has achieved great successes in recent years with the help of novel methods and higher compute power. However, there are still several challenges to be addressed such as convergence to locally optimal…

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…

Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Logic (STL) has been shown to be an effective language for…

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…