相关论文: POMDP-based Object Search with Growing State Space…

Solving partially observable Markov decision processes (POMDPs) is highly intractable in general, at least in part because the optimal policy may be infinitely large. In this paper, we explore the problem of finding the optimal policy from…

Online solvers for partially observable Markov decision processes have been applied to problems with large discrete state spaces, but continuous state, action, and observation spaces remain a challenge. This paper begins by investigating…

Continuous POMDPs with general belief-dependent rewards are notoriously difficult to solve online. In this paper, we present a complete provable theory of adaptive multilevel simplification for the setting of a given externally constructed…

Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…

In this paper we focus on the problem of learning an optimal policy for Active Visual Search (AVS) of objects in known indoor environments with an online setup. Our POMP method uses as input the current pose of an agent (e.g. a robot) and a…

We present Model Predictive Trees (MPT), a receding horizon tree search algorithm that improves its performance by reusing information efficiently. Whereas existing solvers reuse only the highest-quality trajectory from the previous…

Constraint Optimization Problems (COP) pose intricate challenges in combinatorial problems usually addressed through Branch and Bound (B\&B) methods, which involve maintaining priority queues and iteratively selecting branches to search for…

We propose an approach based on probabilistic models, in particular POMDPs, to plan optimized search processes of known objects by intelligent eye in hand robotic arms. Searching and reaching for a known object (a pen, a book, or a hammer)…

Standard planners for sequential decision making (including Monte Carlo planning, tree search, dynamic programming, etc.) are constrained by an implicit sequential planning assumption: The order in which a plan is constructed is the same in…

Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and…

Monte Carlo tree search (MCTS) has been successful in a variety of domains, but faces challenges with long-horizon exploration when compared to sampling-based motion planning algorithms like Rapidly-Exploring Random Trees. To address these…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

A crucial challenge to efficient and robust motion planning for autonomous vehicles is understanding the intentions of the surrounding agents. Ignoring the intentions of the other agents in dynamic environments can lead to risky or…

Monte-Carlo Tree Search (MCTS) is a widely-used strategy for online planning that combines Monte-Carlo sampling with forward tree search. Its success relies on the Upper Confidence bound for Trees (UCT) algorithm, an extension of the UCB…

We propose a provably correct Monte Carlo tree search (MCTS) algorithm for solving risk-aware Markov decision processes (MDPs) with entropic risk measure (ERM) objectives. We provide a non-asymptotic analysis of our proposed algorithm,…

Active Object Recognition (AOR) has been approached as an unsupervised learning problem, in which optimal trajectories for object inspection are not known and are to be discovered by reducing label uncertainty measures or training with…

Standard value function approaches to finding policies for Partially Observable Markov Decision Processes (POMDPs) are generally considered to be intractable for large models. The intractability of these algorithms is to a large extent a…

We study reinforcement learning with function approximation for large-scale Partially Observable Markov Decision Processes (POMDPs) where the state space and observation space are large or even continuous. Particularly, we consider Hilbert…

Monte Carlo Tree Search (MCTS) is a powerful algorithm for solving complex decision-making problems. This paper presents an optimized MCTS implementation applied to the FrozenLake environment, a classic reinforcement learning task…

This paper addresses the trajectory planning problem for automated vehicle on-ramp highway merging. To tackle this challenge, we extend our previous work on trajectory planning at unsignalized intersections using Partially Observable Markov…