相关论文: Sequential Discrete Action Selection via Blocking …

This paper proposes a new sequential model learning architecture to solve partially observable Markov decision problems. Rather than compressing sequential information at every timestep as in conventional recurrent neural network-based…

A framework is introduced for actively and adaptively solving a sequence of machine learning problems, which are changing in bounded manner from one time step to the next. An algorithm is developed that actively queries the labels of the…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…

Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

This paper studies a stochastic robotic surveillance problem where a mobile robot moves randomly on a graph to capture a potential intruder that strategically attacks a location on the graph. The intruder is assumed to be omniscient: it…

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.…

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…

Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

A central problem in artificial intelligence is that of planning to maximize future reward under uncertainty in a partially observable environment. In this paper we propose and demonstrate a novel algorithm which accurately learns a model…

Learning in games has been widely used to solve many cooperative multi-agent problems such as coverage control, consensus, self-reconfiguration or vehicle-target assignment. One standard approach in this domain is to formulate the problem…

Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to…

This thesis considers sequential decision problems, where the loss/reward incurred by selecting an action may not be inferred from observed feedback. A major part of this thesis focuses on the unsupervised sequential selection problem,…

This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…

Analyzing large graph data is an essential part of many modern applications, such as social networks. Due to its large computational complexity, distributed processing is frequently employed. This requires graph data to be divided across…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…

Machine teaching addresses the problem of finding the best training data that can guide a learning algorithm to a target model with minimal effort. In conventional settings, a teacher provides data that are consistent with the true data…

In recent years, pre-trained large language models (LLMs) have demonstrated remarkable efficiency in achieving an inference-time few-shot learning capability known as in-context learning. However, existing literature has highlighted the…