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.
PackIt creates a virtual space for testing geometric planning skills.
New geometric approach controls motion of a spinning sphere on a plane.
In this paper, we present a new task that investigates how people interact with and make judgments about towers of blocks. In Experiment~1, participants in the lab solved a series of problems in which they had to re-configure three blocks from an initial to a final configuration. We recorded whether they used one hand …
Survey on manifold complexities and motion planning in robotics.
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent r…
Proposes a framework for automated radiation therapy treatment planning with uncertainty quantification.
Agents compose pre-trained policies for complex tasks, improving zero-shot performance.
EDGI improves sample efficiency and generalization in tasks with spatial and temporal symmetries.
Optimizes pension fund management under funding risks.
Proposes a new model for predicting future motion of road actors in autonomous vehicles.
New method constructs geometric flat outputs for robotic systems using symmetry.
New method learns state embeddings from demonstrations for improved reinforcement learning.
Study optimal investment under uncertain conditions.
Geometric Algebra Transformer (GATr) handles various geometric data types efficiently.
In this paper the Buchen's pricing formulae of (higher order) asset and bond binary options are incorporated into the pricing formula of power binary options and a pricing formula of "the normal distribution standard options" with the maturity payoff related to a power function and the density function of normal distri…
New kinematic model for a spin-rolling sphere using Darboux frame.
This work enables UAVs to autonomously form desired trajectories without needing a central plan.
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 …
SRL embeds combinatorial optimization into RL for better decision-making.
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…
We prove a version of Poincaré's polyhedron theorem whose requirements are as local as possible. New techniques such as the use of discrete groupoids of isometries are introduced. The theorem may have a wide range of applications and can be generalized to the case of higher dimension and other geometric structures. It …
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…
Automatically identifies geometric flat outputs for robotic systems.
TD-Flow improves long-term predictions in agent learning.