相关论文: The Open Motion Planning Library 2.0

Optical flow is the motion of a pixel between at least two consecutive video frames and can be estimated through an end-to-end trainable convolutional neural network. To this end, large training datasets are required to improve the accuracy…

The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. For complex, cluttered scenes, motion planning approaches can often…

Language models (LMs) have become ubiquitous in both NLP research and in commercial product offerings. As their commercial importance has surged, the most powerful models have become closed off, gated behind proprietary interfaces, with…

The idea of a World digital mathematics library (DML) has been around since the turn of the 21th century. We feel that it is time to make it a reality, starting in a modest way from successful bricks that have already been built, but with…

Traditional machine learning mainly supervised learning, follows the assumptions of closed-world learning, i.e., for each testing class, a training class is available. However, such machine learning models fail to identify the classes which…

Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…

Sampling-based motion planning is one of the fundamental paradigms to generate robot motions, and a cornerstone of robotics research. This comparative review provides an up-to-date guideline and reference manual for the use of…

We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…

We consider the problem of online planning in a Markov Decision Process when given only access to a generative model, restricted to open-loop policies - i.e. sequences of actions - and under budget constraint. In this setting, the Open-Loop…

We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human…

Machine Learning (ML) techniques for Optimal Power Flow (OPF) problems have recently garnered significant attention, reflecting a broader trend of leveraging ML to approximate and/or accelerate the resolution of complex optimization…

Human mobility prediction is essential for applications like urban planning and transportation management, yet it remains challenging due to the complex, often implicit, intentions behind human behavior. Existing models predominantly focus…

When facing a new motion-planning problem, most motion planners solve it from scratch, e.g., via sampling and exploration or starting optimization from a straight-line path. However, most motion planners have to experience a variety of…

Machine learning interatomic potentials (MLIPs) enable atomistic simulations with near ab initio accuracy at significantly reduced computational cost, but their broader adoption is often limited by fragmented tooling, limited scalability,…

Recently, Machine Learning (ML) has become a widely accepted method for significant progress that is rapidly evolving. Since it employs computational methods to teach machines and produce acceptable answers. The significance of the Machine…

Generative models, especially diffusion and flow-based models, have been promising in offline multi-agent reinforcement learning. However, integrating powerful generative models into this framework poses unique challenges. In particular,…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Planning for an upcoming project iteration (sprint) is one of the key activities in Scrum planning. In this paper, we present our work in progress on exploring the applicability of Large Language Models (LLMs) for solving this problem. We…

Prompt-learning has become a new paradigm in modern natural language processing, which directly adapts pre-trained language models (PLMs) to $cloze$-style prediction, autoregressive modeling, or sequence to sequence generation, resulting in…

We introduce ROLL, an efficient, scalable, and user-friendly library designed for Reinforcement Learning Optimization for Large-scale Learning. ROLL caters to three primary user groups: tech pioneers aiming for cost-effective,…