A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
XLVINs improve data efficiency in implicit planning by leveraging latent space.
CoMPNetX uses neural networks to efficiently solve constrained motion planning problems.
Improves RL planning by proposing sub-goals hierarchically.
Survey of integrating planning and learning in model-based reinforcement learning.
The paper proposes a model to forecast traffic motion from sensor data.
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…
Optimal Transport (OT) naturally arises in many machine learning applications, yet the heavy computational burden limits its wide-spread uses. To address the scalability issue, we propose an implicit generative learning-based framework called SPOT (Scalable Push-forward of Optimal Transport). Specifically, we approxima…
We tackle the challenge of disentangled representation learning in generative adversarial networks (GANs) from the perspective of regularized optimal transport (OT). Specifically, a smoothed OT loss gives rise to an implicit transportation plan between the latent space and the data space. Based on this theoretical obse…
The objective in statistical Optimal Transport (OT) is to consistently estimate the optimal transport plan/map solely using samples from the given source and target marginal distributions. This work takes the novel approach of posing statistical OT as that of learning the transport plan's kernel mean embedding from sam…
Creating maps is an essential task in robotics and provides the basis for effective planning and navigation. In this paper, we learn a compact and continuous implicit surface map of an environment from a stream of range data with known poses. For this, we create and incrementally adjust an ensemble of approximate Gauss…
Myriad offers a testbed for integrating machine learning and trajectory optimization.
New method for selecting clusters in residential electricity data.
Generative ML learns optimal pursuit trajectories in pursuit-evasion games.
Algorithm improves RL by discovering delayed causal relations.
New method designs fairer transport plans with uncertainty.
We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then trans…
Study integrates reliability constraints into generation planning models.
New approach improves black-box planning efficiency by discovering focused macros.
Study motion planning for points avoiding obstacles in a plane.
Selective planning with imperfect models reduces harmful effects of model inadequacy.
This article asks how planning scholarship may effectively gain impact in planning practice through media exposure. In liberal democracies the public sphere is dominated by mass media. Therefore, working with such media is a prerequisite for effective public impact of planning research. Using the example of megaproject…
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…
This paper presents a unifying framework for reinforcement learning and planning.
A planning approach learns skills from interactions, balancing exploration and exploitation.
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…
New approach for obstacle avoidance in robotics using learned representations.
Reinforcement learning and symbolic planning have both been used to build intelligent autonomous agents. Reinforcement learning relies on learning from interactions with real world, which often requires an unfeasibly large amount of experience. Symbolic planning relies on manually crafted symbolic knowledge, which may …
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…
This work clarifies the role of inference types in planning.
In recent years, deep generative models have been shown to 'imagine' convincing high-dimensional observations such as images, audio, and even video, learning directly from raw data. In this work, we ask how to imagine goal-directed visual plans -- a plausible sequence of observations that transition a dynamical system …
This work tackles long-term visual planning by goal-conditioned hierarchical predictors.
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…
We designed a grid world task to study human planning and re-planning behavior in an unknown stochastic environment. In our grid world, participants were asked to travel from a random starting point to a random goal position while maximizing their reward. Because they were not familiar with the environment, they needed…
This paper shows how to train only the implicit layer of overparameterized implicit neural networks.
Efficient driving in urban traffic scenarios requires foresight. The observation of other traffic participants and the inference of their possible next actions depending on the own action is considered cooperative prediction and planning. Humans are well equipped with the capability to predict the actions of multiple i…
This work defines a complexity measure for BAMDP planning and introduces state abstraction for more efficient approximate planning.
Events are happening in real-world and real-time, which can be planned and organized occasions involving multiple people and objects. Social media platforms publish a lot of text messages containing public events with comprehensive topics. However, mining social events is challenging due to the heterogeneous event elem…
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…
The computational costs of inference and planning have confined Bayesian model-based reinforcement learning to one of two dismal fates: powerful Bayes-adaptive planning but only for simplistic models, or powerful, Bayesian non-parametric models but using simple, myopic planning strategies such as Thompson sampling. We …
Conventional wisdom holds that model-based planning is a powerful approach to sequential decision-making. It is often very challenging in practice, however, because while a model can be used to evaluate a plan, it does not prescribe how to construct a plan. Here we introduce the "Imagination-based Planner", the first m…
Paper studies the theoretical equivalence between implicit and explicit neural networks in high dimensions.
We consider learning of fundamental properties of communities in large noisy networks, in the prototypical situation where the nodes or users are split into two classes according to a binary property, e.g., according to their opinions or preferences on a topic. For learning these properties, we propose a nonparametric,…
Gradient matching method estimates implicit regularization in complex deep learning systems.
CoTj improves diffusion model quality and stability via graph planning.
Neural A* uses machine learning to improve path planning efficiency.
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…
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…
Continuous semi-implicit models enable faster training and better performance in generative modeling.