相关论文: Behaviour Planning: A Toolkit for Diverse Planning

Diverse planning is the problem of finding multiple plans for a given problem specification, which is at the core of many real-world applications. For example, diverse planning is a critical piece for the efficiency of plan recognition…

Diversity is a concept relevant to numerous domains of research varying from ecology, to information theory, and to economics, to cite a few. It is a notion that is steadily gaining attention in the information retrieval, network analysis,…

Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the emergence of multi-modal data distributions, thereby…

By dynamic planning, we refer to the ability of the human brain to infer and impose motor trajectories related to cognitive decisions. A recent paradigm, active inference, brings fundamental insights into the adaptation of biological…

Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…

Differentiable programming has recently received much interest as a paradigm that facilitates taking gradients of computer programs. While the corresponding flexible gradient-based optimization approaches so far have been used predominantly…

As automatic optimization techniques find their way into industrial applications, the behavior of many complex systems is determined by some form of planner picking the right actions to optimize a given objective function. In many cases,…

A planning domain, as any model, is never complete and inevitably makes assumptions on the environment's dynamic. By allowing the specification of just one domain model, the knowledge engineer is only able to make one set of assumptions,…

Machine learning methods have achieved good performance and been widely applied in various real-world applications. They can learn the model adaptively and be better fit for special requirements of different tasks. Generally, a good machine…

Quality-Diversity algorithms provide efficient mechanisms to generate large collections of diverse and high-performing solutions, which have shown to be instrumental for solving downstream tasks. However, most of those algorithms rely on a…

Planning is one of the main approaches used to improve agents' working efficiency by making plans beforehand. However, during planning, agents face the risk of having their private information leaked. This paper proposes a novel strong…

The initial phase in real world engineering optimization and design is a process of discovery in which not all requirements can be made in advance, or are hard to formalize. Quality diversity algorithms, which produce a variety of high…

An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

Machine learning models are often used to inform real world risk assessment tasks: predicting consumer default risk, predicting whether a person suffers from a serious illness, or predicting a person's risk to appear in court. Given…

The problem of designing error optimal differentially private algorithms is well studied. Recent work applying differential privacy to real world settings have used variants of differential privacy that appropriately modify the notion of…

Large language models (LLMs) have demonstrated exceptional reasoning capabilities, enabling them to solve various complex problems. Recently, this ability has been applied to the paradigm of tool learning. Tool learning involves providing…

The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…

Diversity measurement underpins the study of biological systems, but measures used vary across disciplines. Despite their common use and broad utility, no unified framework has emerged for measuring, comparing and partitioning diversity.…

Modeling interactive driving behaviors in complex scenarios remains a fundamental challenge for autonomous driving planning. Learning-based approaches attempt to address this challenge with advanced generative models, removing the…