This work improves AI's ability to solve physical tasks by optimizing world models in abstracted spaces.
problem Developing AI agents capable of solving diverse physical tasks and generalizing to new environments.
method Investigates and optimizes a family of joint-embedding predictive world models (JEPA-WMs) for efficient planning in abstracted spaces.
result Proposes a model that outperforms two established baselines in both navigation and manipulation tasks.
A new model explains how people solve physical problems and judge hand usage.
problem Understanding how people solve physical problems and judge hand usage.
method Developed a model that plans over symbolic representation, uses geometric solver, and checks feasibility with physical constraints.
result Model explains participants' actions and judgments with high quantitative accuracy.
New method designs fairer transport plans with uncertainty.
problem Designing fair and balanced mass transport plans.
method Hierarchical fully probabilistic design (HFPD) for transport plans.
result Optimal hyperprior for transport plans with uncertain marginals.
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.
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.
A novel model arbitrates between planning and habitual control for efficient decision-making.
problem Balancing flexibility and efficiency in decision-making systems.
method Introduces an arbitrator that switches between planning and habitual control systems.
result The model learns kinematics quickly and adapts to changing environments.
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space. The final goal is to construct an algorithm which will perform this task once th…
Paper tackles NP-hard multi-agent planning with reinforcement learning.
problem Solving NP-hard multi-agent, multi-task planning problems with time-dependent rewards.
method Developed a reinforcement learning framework using mean-field inference and auction-based selection.
result Achieved near-optimality and transferability in solving MRRC and IPMS problems.
The paper proposes a model to forecast traffic motion from sensor data.
problem Accurately predicting traffic motion for safe vehicle maneuvers.
method Implicit latent variable model using interaction graphs and graph neural networks.
result Achieves state-of-the-art motion forecasting and interaction understanding.
Robo-PlaNet learns robot tasks faster than PlaNet.
problem Training robot tasks with limited or noisy sensor data.
method Asynchronous version of PlaNet that interleaves dynamics model training and data collection.
result Robo-PlaNet achieves higher performance in less time.
This work tackles maintenance planning with deep reinforcement learning under uncertainty.
problem Optimizing inspection and maintenance policies in deteriorating environments with incomplete information and constraints.
method Joint framework of constrained POMDPs and multi-agent DRL addressing challenges of state/action space, history, uncertainty, and constraints.
result The proposed framework outperforms existing methods in resource and risk-aware decision-making.
New probabilistic graph models for efficient power system simulation.
problem Complexity of modern power grids and challenges in physics-based models.
method Data-driven probabilistic graphs with custom non-linear models.
result Accurate and scalable models for large-scale power systems.
The paper shows how to answer future and past questions from high-dimensional time series data.
problem Challenges in answering probabilistic inference questions from high-dimensional time series data.
method Temporal contrastive learning to learn Gaussian representations that enable compact closed-form solutions.
result Representations learned via contrastive learning follow a Gauss-Markov chain, enabling efficient inference and planning.
Framework improves resilience in operations through joint long-term and short-term decision-making.
problem Resilient operations in global markets require adaptive decision rules.
method Developed a two-timescale hierarchical reinforcement learning framework.
result Framework increases mean profit by 9.2% under joint demand-supply shocks and 11.8% under prolonged shocks.
DPN combines model-based and model-free reinforcement learning for efficient planning.
problem Efficiently plan actions in reinforcement learning environments.
method Combines model-based and model-free reinforcement learning, dynamically constructing plans using a learned state-transition model.
result Reduces the number of state transitions during planning by up to 96%, improving data efficiency and performance.
Improves RL planning by proposing sub-goals hierarchically.
problem Sequential planning assumption in RL.
method Divide-and-Conquer Monte Carlo Tree Search (DC-MCTS).
result Improves navigation and control tasks.
MPNet uses neural networks for efficient motion planning.
problem Exponential increase in computational complexity with motion planning problem dimensionality.
method MPNet encodes workspaces from point cloud measurements and generates collision-free paths.
result MPNet is computationally efficient and generalizes to unseen environments.
Study on human planning and re-planning in unknown stochastic environments.
problem Understanding how humans adjust plans in unfamiliar environments.
method Grid world task, 12 different models, model-based reinforcement learning approach.
result Model-based reinforcement learning approach best explains human re-planning behavior.
Unified framework integrates symbolic planning and HRL for robust decision-making.
problem Combining reinforcement learning and symbolic planning for robust decision-making in dynamic environments.
method Integrates symbolic planning with hierarchical reinforcement learning to guide task execution and improve planning.
result Unified framework leads to rapid policy search and robust symbolic plans in complex domains.
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…
Generative model learns goal-directed visual plans from raw data.
problem Learning goal-directed visual plans from high-dimensional observations.
method Combines representation learning and planning, maximizing mutual information.
result Generative model learns low-dimensional representation explaining causal data.
First model-based planner learns to construct, evaluate, and execute plans.
problem Challenges in model-based planning, especially in constructing plans.
method Imagination-based Planner that learns to construct, evaluate, and execute plans.
result Can learn to solve challenging continuous control problems and elaborate planning strategies.
Generative adversarial networks improve radiation therapy planning.
problem Creating optimal radiation therapy plans.
method Using a GAN to predict 3D dose distributions directly.
result Significantly outperforms previous methods in clinical satisfaction and metrics.
Study integrates reliability constraints into generation planning models.
problem Challenges in integrating reliability constraints with generation planning models.
method Leverages a weighted oblique decision tree (WODT) technique to embed reliability verification constraints.
result Demonstrates effectiveness in achieving reliable and optimal planning solutions.
Information planning speeds up text data learning with fewer examples.
problem Learning with limited training examples for text data.
method Entropy and mutual information-based information planning for three supervised models.
result Information planning accelerates learning for text data.
New approach improves black-box planning efficiency by discovering focused macros.
problem Difficulty of deterministic planning increases exponentially with depth.
method Discovering macro-actions with focused effects to improve goal-count heuristics.
result Focused macros dramatically improve black-box planning efficiency.
UPNs embed planning within a goal-directed policy for effective visuomotor control.
problem Learning abstract representations for visuomotor control and generalization.
method Differentiable planning within a latent space, gradient descent trajectory optimization, end-to-end learning of representations.
result UPNs can transfer visuomotor planning strategies across robots with different morphologies and actuation capabilities.
Study motion planning for points avoiding obstacles in a plane.
problem Avoiding collisions for multiple points in a plane with unknown obstacles.
method Algebraic and topological tools for motion planning.
result New topological complexity for planar motion planning.
Selective planning with imperfect models reduces harmful effects of model inadequacy.
problem Harmful effects of using an imperfect model in reinforcement learning.
method Selective planning with heteroscedastic regression to estimate predictive uncertainty from model inadequacy.
result Effective selective planning requires considering both parameter uncertainty and model inadequacy.
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.
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…
Future autonomous systems need reliable world models and complex action sequences.
problem Current automated systems lack reliable world models and complex action sequences.
method Introduce energy-based and latent variable models combined in a hierarchical joint embedding predictive architecture (H-JEPA).
result Combining energy-based and latent variable models in H-JEPA can lead to reliable world models and complex action sequences.
New method combines heuristics and search techniques to speed up cooperative planning for autonomous vehicles.
problem Efficient cooperative planning for autonomous vehicles in complex traffic scenarios.
method Combining learned heuristics with Monte Carlo Tree Search (MCTS) to guide search towards promising actions.
result Better solutions at lower computational costs achieved through accelerated planning.
This paper presents a unifying framework for reinforcement learning and planning.
problem Sequential decision making in AI, formalized as MDP optimization.
method A unifying algorithmic framework (FRAP) for reinforcement learning and planning.
result Identifies common dimensions in MDP planning and learning algorithms.
A planning approach learns skills from interactions, balancing exploration and exploitation.
problem Learning robust high-level skills in noisy environments with unknown pre-conditions.
method Formulates skills as high-level policies, learns plans via bandit problems, balances exploration and exploitation.
result A planner capable of learning robust high-level skills in high-dimensional state spaces.
Paper evaluates how forecast errors affect optimal utilisation in production planning.
problem Forecast errors impact optimal utilisation in production planning.
method Simulation and mixed integer programming for stochastic demand.
result Forecast errors significantly affect optimal costs in production planning.
Survey of integrating planning and learning in model-based reinforcement learning.
problem Sequential decision making in AI, formalized as MDP optimization.
method Systematic coverage of dynamics model learning and planning-learning integration.
result Broad conceptual overview of model-based reinforcement learning.
New method uses autoregressive models for dynamic planning.
problem Planning in dynamic environments with moving obstacles and goals.
method Conditional autoregressive generative models in a discrete latent space.
result Method nearly matches true environment performance for planning.
Paper proposes a federated learning framework for UAV swarms, optimizing convergence rate and energy consumption.
problem Challenges of centralized ML in UAV swarms due to limited connections and large data volumes.
method Distributed federated learning within UAV swarm, joint power allocation and scheduling design.
result Joint design strategy reduces communication rounds by up to 35%.
New approach for obstacle avoidance in robotics using learned representations.
problem Challenges in sensor-based motion planning for new and dynamic environments.
method Proposes a new obstacle representation using PointNet architecture trained jointly with policies for obstacle avoidance.
result Significant improvements in accuracy and efficiency compared to state of the art.
Novel proof shows continuity of optimal transport feasible set mapping.
problem Continuity of feasible set mapping in optimal transport problems.
method Presented a novel and shorter proof of continuity.
result Established continuity of the feasible set mapping.
This work clarifies the role of inference types in planning.
problem Lack of consistency in using inference types for planning.
method Variational framework and loopy belief propagation.
result All inference types correspond to different weights in variational problems.
This work tackles long-term visual planning by goal-conditioned hierarchical predictors.
problem Current learning approaches fail on long-horizon tasks due to lack of goal information and coarse-to-fine planning.
method Formulate goal-conditioned predictors (GCPs) and hierarchical models to predict trajectories between observations.
result GCPs enable effective long-term planning with much longer horizons than before.
Improved motion planning for dynamic environments using RL.
problem Efficient motion planning in changing environments.
method Deep reinforcement learning (DDPG) tailored for motion planning.
result DDPG-MP significantly improves motion planning accuracy.
PlaNet learns latent dynamics from images for better planning in unknown environments.
problem Leveraging planning in unknown environments with accurate dynamics models.
method Deep Planning Network (PlaNet) learns dynamics from images using latent space and multi-step variational inference.
result PlaNet achieves high performance in continuous control tasks with contact dynamics and sparse rewards.
This work defines a complexity measure for BAMDP planning and introduces state abstraction for more efficient approximate planning.
problem The computational intractability of exact BAMDP planning solutions.
method Define a complexity measure for BAMDP planning, introduce state abstraction, and develop an approximate planning algorithm.
result Introduces a computationally tractable approximate planning algorithm using state abstraction.
Model-free RL agents can learn effective planning without explicit model.
problem Challenging domains with combinatorial complexity.
method Model-free RL with inductive bias in neural networks.
result Model-free RL can exhibit planning characteristics without explicit model.
Hierarchical Foresight improves robot vision tasks by planning long-term goals.
problem Compounding uncertainty and scalability issues in long horizon video prediction.
method Subgoal generation and planning using hierarchical visual foresight (HVF).
result Achieves nearly 200% performance improvement in vision-based manipulation tasks.