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.
New method designs fairer transport plans with uncertainty.
Improves RL planning by proposing sub-goals hierarchically.
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.
CoMPNetX uses neural networks to efficiently solve constrained motion planning problems.
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.
Survey of integrating planning and learning in model-based reinforcement learning.
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…
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.
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…
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…
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
Certified guidance ensures generative models always meet planning objectives.
PackIt creates a virtual space for testing geometric planning skills.
Study shows bifurcation in optimal retirement planning.
Sliced-regularized OT improves transport plan accuracy.
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 hierarchical structure of production planning has the advantage of assigning different decision variables to their respective time horizons and therefore ensures their manageability. However, the restrictive structure of this top-down approach implying that upper level decisions are the constraints for lower level …
Improved CEM for fast real-time planning in high-dimensional control tasks.
E2C separates planning and execution in LLMs, improving efficiency and performance.
New algorithm for planning in observable POMDPs in quasi-polynomial time.
Study experiment planning with function approximation in contextual bandit problems.
The field of reinforcement learning (RL) is facing increasingly challenging domains with combinatorial complexity. For an RL agent to address these challenges, it is essential that it can plan effectively. Prior work has typically utilized an explicit model of the environment, combined with a specific planning algorith…
Model-based planning holds great promise for improving both sample efficiency and generalization in reinforcement learning (RL). We show that energy-based models (EBMs) are a promising class of models to use for model-based planning. EBMs naturally support inference of intermediate states given start and goal state dis…
Study assesses health plan risk measures for Solvency Capital Requirement.
Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects. However, due to the compounding uncertainty in long horizon video prediction and poor s…
Proves sufficiency of countable test plans for BV functions on metric spaces.
PDSketch enables flexible robot planning by learning from domain structures.