相关论文: Online Planning in POMDPs with State-Requests

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…

The problem of task scheduling with communication delays is strongly NP-hard. State-space search algorithms such as A* have been shown to be a promising approach to solving small to medium sized instances optimally. A recently proposed…

In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…

Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target…

The NP-hard problem of task scheduling with communication delays (P|prec,c_{ij}|C_{\mathrm{max}}) is often tackled using approximate methods, but guarantees on the quality of these heuristic solutions are hard to come by. Optimal schedules…

We study the problem of synthesizing a controller that maximizes the entropy of a partially observable Markov decision process (POMDP) subject to a constraint on the expected total reward. Such a controller minimizes the predictability of a…

Partially observable Markov decision processes (POMDPs) is a rich mathematical framework that embraces a large class of complex sequential decision-making problems under uncertainty with limited observations. However, the complexity of…

It is well known that for any finite state Markov decision process (MDP) there is a memoryless deterministic policy that maximizes the expected reward. For partially observable Markov decision processes (POMDPs), optimal memoryless policies…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Non-stationary domains, that change in unpredicted ways, are a challenge for agents searching for optimal policies in sequential decision-making problems. This paper presents a combination of Markov Decision Processes (MDP) with Answer Set…

We consider the problem of online Min-cost Perfect Matching with Delays (MPMD) introduced by Emek et al. (STOC 2016). In this problem, an even number of requests appear in a metric space at different times and the goal of an online…

We consider the problem of finding the best memoryless stochastic policy for an infinite-horizon partially observable Markov decision process (POMDP) with finite state and action spaces with respect to either the discounted or mean reward…

This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of multi-modal uncertainty introduced by other agents in the…

This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…

The problem of pure exploration in Markov decision processes has been cast as maximizing the entropy over the state distribution induced by the agent's policy, an objective that has been extensively studied. However, little attention has…

We consider partially observable Markov decision processes (POMDPs) with a set of target states and positive integer costs associated with every transition. The traditional optimization objective (stochastic shortest path) asks to minimize…

Recent benchmarks for memory-augmented reinforcement learning (RL) have introduced partially observable Markov decision process (POMDP) environments in which agents must use historical observations to make decisions. However, these…

This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories…

Partially observable Markov decision processes (POMDPs) are widely used in probabilistic planning problems in which an agent interacts with an environment using noisy and imprecise sensors. We study a setting in which the sensors are only…

Real-world planning problems, including autonomous driving and sustainable energy applications like carbon storage and resource exploration, have recently been modeled as partially observable Markov decision processes (POMDPs) and solved…