相关论文: Policy-Space Search: Equivalences, Improvements, a…

A common paradigm in classical planning is heuristic forward search. Forward search planners often rely on simple best-first search which remains fixed throughout the search process. In this paper, we introduce a novel search framework…

High-throughput neural network inference requires coordinating many optimization decisions, including parallel tiling, microkernel selection, and data layout. The product of these decisions forms a search space of programs which is…

This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…

Imitation learning is a way to teach robots skills that are demonstrated by humans. Transfering skills between these different kinematic structures seems to be straightforward in Cartesian space. Because of the correspondence problem,…

Generalized planning aims to learn policies that generalize across collections of instances within a classical planning domain. Recent Graph Neural Network (GNN) approaches have learned nearly perfect policies for several domains. This work…

The paper introduces mixed networks, a new framework for expressing and reasoning with probabilistic and deterministic information. The framework combines belief networks with constraint networks, defining the semantics and graphical…

Large language models (LLMs) have demonstrated powerful decision-making and planning capabilities in solving complicated real-world problems. LLM-based autonomous agents can interact with diverse tools (e.g., functional APIs) and generate…

Modern policy optimization methods roughly follow the policy mirror descent (PMD) algorithmic template, for which there are by now numerous theoretical convergence results. However, most of these either target tabular environments, or can…

Non-deterministic planning aims to find a policy that achieves a given objective in an environment where actions have uncertain effects, and the agent - potentially - only observes parts of the current state. Hyperproperties are properties…

Reward optimization in fully observable Markov decision processes is equivalent to a linear program over the polytope of state-action frequencies. Taking a similar perspective in the case of partially observable Markov decision processes…

In automated planning, control parameters extend standard action representations through the introduction of continuous numeric decision variables. Existing state-of-the-art approaches have primarily handled control parameters as embedded…

This paper describes a novel approach to planning which takes advantage of decision theory to greatly improve robustness in an uncertain environment. We present an algorithm which computes conditional plans of maximum expected utility. This…

Reasoning about uncertainty is vital in many real-life autonomous systems. However, current state-of-the-art planning algorithms cannot either reason about uncertainty explicitly, or do so with a high computational burden. Here, we focus on…

We consider the problem of designing piecewise affine policies for two-stage adjustable robust linear optimization problems under right-hand side uncertainty. It is well known that a piecewise affine policy is optimal although the number of…

Reinforcement learning agents need a reward signal to learn successful policies. When this signal is sparse or the corresponding gradient is deceptive, such agents need a dedicated mechanism to efficiently explore their search space without…

Current computer-aided synthesis planning (CASP) methods often treat retrosynthesis as solved once a single feasible route is identified, focusing primarily on convergence or shortest-path metrics. This view is misaligned with real-world…

We address the problem of searching for an unknown number of stationary targets at unknown positions with a mobile agent. A probability hypothesis density filter is used to estimate the expected number of targets under measurement…

In this paper we focus on the problem of learning online an optimal policy for Active Visual Search (AVS) of objects in unknown indoor environments. We propose POMP++, a planning strategy that introduces a novel formulation on top of the…

Exploration is critical to a reinforcement learning agent's performance in its given environment. Prior exploration methods are often based on using heuristic auxiliary predictions to guide policy behavior, lacking a mathematically-grounded…

Evaluating and optimizing policies in the presence of unobserved confounders is a problem of growing interest in offline reinforcement learning. Using conventional methods for offline RL in the presence of confounding can not only lead to…