相关论文: Improving Plan Execution Flexibility using Block-S…

Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition to bringing data-oriented feature generation capabilities to…

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and natural language goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle with the…

The conventional model for online planning under uncertainty assumes that an agent can stop and plan without incurring costs for the time spent planning. However, planning time is not free in most real-world settings. For example, an…

Scenarios requiring humans to choose from multiple seemingly optimal actions are commonplace, however standard imitation learning often fails to capture this behavior. Instead, an over-reliance on replicating expert actions induces…

Recent progress in state-only imitation learning extends the scope of applicability of imitation learning to real-world settings by relieving the need for observing expert actions. However, existing solutions only learn to extract a…

Direct Preference Optimization (DPO) and its variants have become increasingly popular for aligning language models with human preferences. These methods aim to teach models to better distinguish between chosen (or preferred) and rejected…

Solving optimal control problems for transport-dominated partial differential equations (PDEs) can become computationally expensive, especially when dealing with high-dimensional systems. To overcome this challenge, we focus on developing…

We study optimal data pooling for shared learning in two common maintenance operations: condition-based maintenance and spare parts management. We consider a set of systems subject to Poisson input -- the degradation or demand process --…

We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…

A large number of computational and scientific methods commonly require decomposing a sparse matrix into triangular factors as LU decomposition. A common problem faced during this decomposition is that even though the given matrix may be…

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…

Event-driven multi-threaded programming is fast becoming a preferred style of developing efficient and responsive applications. In this concurrency model, multiple threads execute concurrently, communicating through shared objects as well…

In many domains such as transportation and logistics, search and rescue, or cooperative surveillance, tasks are pending to be allocated with the consideration of possible execution uncertainties. Existing task coordination algorithms either…

We study flow scheduling under node capacity constraints. We are given capacitated nodes and an online sequence of jobs, each with a release time and a demand to be routed between two nodes. A schedule specifies which jobs are routed in…

Semidefinite programs (SDPs) often arise in relaxations of some NP-hard problems, and if the solution of the SDP obeys certain rank constraints, the relaxation will be tight. Decomposition methods based on chordal sparsity have already been…

We consider a problem concerning a network and a set of maintenance requests to be undertaken. We wish to schedule the maintenance in such a way as to minimise the impact on the total throughput of the network. We apply disaggregated…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

Neural network training requires a large amount of computation and thus GPUs are often used for the acceleration. While they improve the performance, GPUs are underutilized during the training.This paper proposes out-of-order (ooo)…

The scheduling of production resources (such as associating jobs to machines) plays a vital role for the manufacturing industry not only for saving energy but also for increasing the overall efficiency. Among the different job scheduling…

A dynamic partial order reduction (DPOR) algorithm is optimal when it always explores at most one representative per Mazurkiewicz trace. Existing literature suggests that the reduction obtained by the non-optimal, state-of-the-art…