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Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These systems are sensitive to global path…

Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…

Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…

This paper introduces a novel reinforcement learning (RL) approach to scheduling mixed-criticality (MC) systems on processors with varying speeds. Building upon the foundation laid by [1], we extend their work to address the non-preemptive…

Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…

In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…

Sequential decision making, commonly formalized as optimization of a Markov Decision Process, is a key challenge in artificial intelligence. Two successful approaches to MDP optimization are reinforcement learning and planning, which both…

Multi-agent hierarchical reinforcement learning (MAHRL) has been studied as an effective means to solve intelligent decision problems in complex and large-scale environments. However, most current MAHRL algorithms follow the traditional way…

Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space grows exponentially with respect to the number of agents.…

High Performance Computing (HPC) systems are used across a wide range of disciplines for both large and complex computations. HPC systems often receive many thousands of computational tasks at a time, colloquially referred to as jobs. These…

Reinforcement learning (RL) is a promising approach for solving robotic manipulation tasks. However, it is challenging to apply the RL algorithms directly in the real world. For one thing, RL is data-intensive and typically requires…

Multi-objective reinforcement learning (MORL) aims to find a set of high-performing and diverse policies that address trade-offs between multiple conflicting objectives. However, in practice, decision makers (DMs) often deploy only one or a…

The Multi-agent Path Finding (MAPF) problem involves finding collision-free paths for a team of agents in a known, static environment, with important applications in warehouse automation, logistics, or last-mile delivery. To meet the needs…

Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the…

We study two state-of-the-art solutions to the multi-agent pickup and delivery (MAPD) problem based on different principles -- multi-agent path-finding (MAPF) and multi-agent reinforcement learning (MARL). Specifically, a recent MAPF…

Experience replay is crucial for off-policy reinforcement learning (RL) methods. By remembering and reusing the experiences from past different policies, experience replay significantly improves the training efficiency and stability of RL…

Gradient-based optimizers are highly sensitive to design choices in their adaptive learning rate mechanisms. To address this limitation, we introduce POP, a meta-learned Reinforcement Learning (RL) policy that predicts adaptive learning…

Model-based Reinforcement Learning (RL) is a popular learning paradigm due to its potential sample efficiency compared to model-free RL. However, existing empirical model-based RL approaches lack the ability to explore. This work studies a…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen.…