Deep network solves maze path planning without training.
problem Efficient path planning in large mazes with obstacles.
method Max pooling layers without training.
result Solves mazes with over half a billion nodes in short time.
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48 results for “Deep planning networks”
Deep network predicts action sequences for complex tasks from a scene image.
problem Scalable task and motion planning from initial scene images.
method Deep convolutional recurrent neural network that predicts action sequences.
result Predicts promising action sequences, reducing motion planning problems.
Certified guidance ensures generative models always meet planning objectives.
problem Lack of guarantees for generated outputs satisfying planning objectives.
method Certified guidance modifies generative models without retraining, ensuring outputs meet STL specifications.
result Certified guidance produces models that are always correct, unlike non-certified methods.
Information planning enables faster learning with fewer training examples. It is particularly applicable when training examples are costly to obtain. This work examines the advantages of information planning for text data by focusing on three supervised models: Naive Bayes, supervised LDA and deep neural networks. We s…
CoMPNetX uses neural networks to efficiently solve constrained motion planning problems.
problem Finding collision-free paths on constraint manifolds efficiently.
method Neural generator and discriminator with neural gradients-based projection operator.
result CoMPNetX finds path solutions with high success rates and lower computation times.
We introduce Dynamic Planning Networks (DPN), a novel architecture for deep reinforcement learning, that combines model-based and model-free aspects for online planning. Our architecture learns to dynamically construct plans using a learned state-transition model by selecting and traversing between simulated states and…
Enhances PlaNet for better planning in uncertain environments.
problem Improving deep planning networks for partially observable environments.
method Incorporates Bayesian inference to handle uncertainty in latent models and action candidates.
result Consistently improves asymptotic performance on continuous control tasks.
Swept Volume (SV), the volume displaced by an object when it is moving along a trajectory, is considered a useful metric for motion planning. First, SV has been used to identify collisions along a trajectory, because it directly measures the amount of space required for an object to move. Second, in sampling-based moti…
Proposes DLGPD model to learn dynamics from images for planning.
problem Planning in unknown, indirectly observable environments.
method Deep latent Gaussian process dynamics model trained jointly with neural networks.
result Demonstrates improved data efficiency and transfer learning.
Combines MCTS and neural networks for efficient multi-period financial planning.
problem Solving multi-period financial planning models with high transaction costs and regime switching.
method Integrates Monte Carlo Tree Search with deep neural networks, using UTC and lookup search.
result Combined approach outperforms individual methods, solving complex models.
This paper introduces the QMDP-net, a neural network architecture for planning under partial observability. The QMDP-net combines the strengths of model-free learning and model-based planning. It is a recurrent policy network, but it represents a policy for a parameterized set of tasks by connecting a model with a plan…
We introduce Imagination-Augmented Agents (I2As), a novel architecture for deep reinforcement learning combining model-free and model-based aspects. In contrast to most existing model-based reinforcement learning and planning methods, which prescribe how a model should be used to arrive at a policy, I2As learn to inter…
Automated planning is one of the foundational areas of AI. Since no single planner can work well for all tasks and domains, portfolio-based techniques have become increasingly popular in recent years. In particular, deep learning emerges as a promising methodology for online planner selection. Owing to the recent devel…
This research introduces an autonomous robot navigation method using reinforcement learning.
problem Improving robot navigation in complex environments.
method Deep Q Network (DQN) and Proximal Policy Optimization (PPO) models for path planning and decision-making.
result The models enhance robot navigation ability and adaptive learning in unknown environments.
Agents struggle with solving tasks in new environments, but new models improve performance.
problem Rapid task-solving in novel environments.
method Developed EPNs to enable deep RL agents to plan over gathered knowledge.
result EPNs enable deep RL agents to excel at RTS, outperforming baselines by factors of 2-3.
New AI model improves grid planning efficiency and reliability.
problem Improving distribution grid planning with AI for energy sustainability.
method Hyperstructures Graph Convolutional Neural Networks (Hyper-GCNNs) with attention mechanism.
result Hyper-GCNNs outperforms existing models in computational efficiency and accuracy.
Graph neural network executes value iteration for flexible environments.
problem Value iteration in flexible environments with direct supervision.
method Graph Neural Network (GNN) executing value iteration algorithm.
result GNN accurately models value iteration across diverse environments.
Combining deep model-free reinforcement learning with on-line planning is a promising approach to building on the successes of deep RL. On-line planning with look-ahead trees has proven successful in environments where transition models are known a priori. However, in complex environments where transition models need t…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well as low-level tasks, like motion control, which are critical components for missi…
This paper bridges Markowitz planning and deep reinforcement learning for portfolio optimization.
problem Combining Markowitz planning and deep reinforcement learning for portfolio optimization.
method Mapping market conditions to actions using deep reinforcement learning, casting portfolio allocation as a continuous control problem.
result Deep reinforcement learning techniques can provide new insights for portfolio allocation.
Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models that are accurate enough for planning has been a long-standing challenge, especiall…
The problem of retrosynthetic planning can be framed as one player game, in which the chemist (or a computer program) works backwards from a molecular target to simpler starting materials though a series of choices regarding which reactions to perform. This game is challenging as the combinatorial space of possible cho…
Exploring Deep Learning Approaches to Predict Person and Vehicle Trips: An Analysis of NHTS Datacs.AI
Deep learning improves trip prediction accuracy in transportation planning.
problem Traditional models fail to accurately predict person and vehicle trips due to complexity and dynamics.
method Developed and trained a deep learning model using NHTS data.
result Deep learning model achieved 98% accuracy for person trip prediction and 96% for vehicle trip estimation.
Deep reinforcement learning has learned to play many games well, but failed on others. To better characterize the modes and reasons of failure of deep reinforcement learners, we test the widely used Asynchronous Actor-Critic (A2C) algorithm on four deceptive games, which are specially designed to provide challenges to …
Bayesian Deep Learning for Remaining Useful Life Estimation via Stein Variational Gradient Descentcs.LG
Bayesian deep learning improves maintenance planning uncertainty quantification.
problem Estimating the remaining useful life of physical systems with uncertainty quantification.
method Stein variational gradient descent for training Bayesian neural networks.
result Bayesian deep learning models trained via Stein variational gradient descent outperform other methods in convergence speed and predictive performance.
Uncertainty Estimation in Deep Neural Networks for Point Cloud Segmentation in Factory Planningcs.CV
Bayesian neural networks improve uncertainty estimation in 3D point cloud segmentation for factory planning.
problem Improving uncertainty estimation in 3D point cloud segmentation for factory planning.
method Proposed fully Bayesian and approximate Bayesian neural networks for point cloud segmentation.
result Superior model performance and improved segmentation results with uncertainty incorporation.
Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on different, yet similar problems. This setting is important in applications with rapidl…
Deep neural network learns discrete state abstractions for efficient planning.
problem Efficient sequential decision making in large state spaces.
method Information bottleneck method for learning approximate bisimulations using deep neural encoders and action-conditioned HMM.
result Trained method efficiently plans for unseen goals in multi-goal reinforcement learning.
XLVINs improve deep reinforcement learning by combining self-supervised learning and neural algorithmic reasoning.
problem Limitations of Value Iteration Networks (VINs) in deep reinforcement learning.
method Combining contrastive self-supervised learning, graph representation learning, and neural algorithmic reasoning.
result XLVINs match VIN-like models on discrete, fixed MDPs and significantly outperform model-free baselines.
UAVs learn to collect data from IoT sensors efficiently.
problem Efficient UAV path planning for wireless data collection.
method Deep reinforcement learning (DDQN) with experience replay and convolutional layers.
result UAV control policy generalizes over changing scenario parameters.
Deep imagination optimizes decision-making in large trees with limited resources.
problem Optimal planning in large decision trees with limited resources and time.
method Analytical solutions and numerical analysis of sampling capacity allocation.
result Optimal policy is to allocate few samples per level for deep exploration, favoring depth over breadth.
CESAR improves wind speed and power forecasting for high-resolution simulations.
problem Accurate high-resolution wind forecasting for efficient power grid management.
method A spatio-temporal neural network model using deep convolutional autoencoder and echo state network.
result CESAR provides up to 17% improvement in wind speed and power forecasting compared to best alternatives.
Paper analyzes neural network complexity for planning problems.
problem Understanding neural network complexity for planning policies.
method Circuit complexity analysis for relational neural networks.
result Three classes of planning problems identified based on network complexity.
We introduce the value iteration network (VIN): a fully differentiable neural network with a `planning module' embedded within. VINs can learn to plan, and are suitable for predicting outcomes that involve planning-based reasoning, such as policies for reinforcement learning. Key to our approach is a novel differentiab…
Complex networks are often either too large for full exploration, partially accessible, or partially observed. Downstream learning tasks on these incomplete networks can produce low quality results. In addition, reducing the incompleteness of the network can be costly and nontrivial. As a result, network discovery algo…
Deep RL drone trained to compete against classical path planning in drone racing.
problem Optimizing long-term drone racing strategies using reinforcement learning.
method Used PPO algorithm on a simulated quadrotor in a racing environment created with AirSim.
result Deep RL agent outperformed classical path planning in drone racing competitions.
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue…
Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and standardization rules. Besides classic control design approaches, Artificial Intelligence…
Knowledge-based planning (KBP) is an automated approach to radiation therapy treatment planning that involves predicting desirable treatment plans before they are then corrected to deliverable ones. We propose a generative adversarial network (GAN) approach for predicting desirable 3D dose distributions that eschews th…
The paper optimizes UAV path and power for QoS in cellular networks.
problem Optimizing UAV path and power for QoS in cellular networks.
method Apprenticeship learning via deep inverse reinforcement learning (IRL) combined with Q-learning and DRL.
result The proposed method achieves expert-level performance and maintains performance in unseen situations.
Model predicts unseen climate extremes to inform risk planning.
problem Missing unseen climate extremes in historical records.
method DeepX-GAN model capturing spatial dependence.
result Unseen heat extremes disproportionately threaten vulnerable regions.
Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representationscs.RO
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
problem Safe motion planning for self-driving vehicles.
method Differentiable semantic occupancy representation for cost calculation in motion planning.
result Significantly outperforms state-of-the-art planners in imitating human behaviors and producing safer trajectories.
Adaptive traffic control uses deep RL to improve decision-making.
problem Improving traffic control using deep RL.
method Integrates recent deep RL techniques into a novel DQN-based algorithm (TC-DQN+) for traffic control.
result Proposes a new reward function for traffic control.
This paper presents a novel two-step approach for the fundamental problem of learning an optimal map from one distribution to another. First, we learn an optimal transport (OT) plan, which can be thought as a one-to-many map between the two distributions. To that end, we propose a stochastic dual approach of regularize…
PDSketch enables flexible robot planning by learning from domain structures.
problem Building general robots with flexible planning.
method Exploiting locality and sparsity in environmental models, PDSketch defines high-level structures for trainable neural networks.
result PDSketch automatically generates planning heuristics without additional training.
One-shot path planning for multiple agents using neural networks.
problem Efficiently generating optimal or near-optimal paths for multiple agents in robotics.
method Utilizes fully convolutional neural networks for one-shot multi-agent path planning.
result Demonstrates successful generation of optimal or near-optimal paths in over 85% of cases for multi-path planning.
A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable planning within a goal-directed policy. This planning computation unrolls a for…
Study uses deep neural networks for inference in partially linear models with dependent data.
problem Inference in partially linear models with dependent data.
method First stage deep neural network (DNN) estimation followed by -consistent and asymptotically normal estimator.
result The DNN-estimated finite dimensional parameter achieves -consistency and asymptotic normality.