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.
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 shows bifurcation in optimal retirement planning.
problem Optimal consumption and retirement planning model.
method Cobb-Douglas utility, simple model with wealth bifurcation.
result Critical wealth level leads to a continuum of retirement trajectories.
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…
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.
The paper examines properties of GW optimal transport plans, showing they can be sparse and permutation-supported.
problem Properties of Gromov-Wasserstein optimal transport plans.
method Exploration of sparsity, permutation support, and cyclical monotonicity properties.
result GW optimal plans can be sparse and permutation-supported under certain conditions.
Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization capability. Sampling based methods cannot guarantee the optimality of the gener…
Sliced-regularized OT improves transport plan accuracy.
problem Optimal transport (OT) approximation accuracy.
method Sliced-regularized optimal transport (SROT) formulation.
result SROT yields more accurate approximations of exact OT than entropic OT.
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.
NOT learns optimal transport plans, kernel costs improve performance.
problem NOT algorithm learns non-optimal plans with weak quadratic costs.
method Introduced kernel weak quadratic costs to improve NOT's performance.
result Kernel costs provide improved theoretical and practical guarantees.
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 …
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.
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 …
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.
In this paper, we propose to combine imitation and reinforcement learning via the idea of reward shaping using an oracle. We study the effectiveness of the near-optimal cost-to-go oracle on the planning horizon and demonstrate that the cost-to-go oracle shortens the learner's planning horizon as function of its accurac…
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.
We give an alternative proof for the fact that in n-dimensional Alexandrov spaces with curvature bounded below there exists a unique optimal transport plan from any purely (n−1)-unrectifiable starting measure, and that this plan is induced by an optimal map.
New algorithm for planning in observable POMDPs in quasi-polynomial time.
problem Planning in POMDPs is computationally hard.
method Assumption of well-separated distributions on states and observations leads to quasi-succinct descriptions of near-optimal policies.
result Quasipolynomial-time algorithm for planning in observable POMDPs.
Proposes balancing revenue and environmental impact in assortment planning.
problem Maximizing revenue while considering environmental impact in retail assortment planning.
method Multi-objective optimization using Higg Material Sustainability Index.
result Shows it's possible to have lower environmental impact without significant revenue loss.
Olympus benchmarks optimization algorithms for noisy experiments.
problem Benchmarking optimization algorithms on realistic experimental scenarios is challenging.
method Introduces Olympus, a software package for benchmarking optimization algorithms on synthetic experiments.
result Mitigates barriers in benchmarking optimization algorithms on realistic experimental scenarios.
CoTj improves diffusion model quality and stability via graph planning.
problem Rigidity in diffusion models due to high-dimensional state space.
method Chain-of-Trajectories (CoTj) framework using Diffusion DNA for graph planning.
result CoTj discovers context-aware trajectories improving output quality and stability.
PackIt creates a virtual space for testing geometric planning skills.
problem Evaluating geometric planning abilities in virtual environments.
method Developed a virtual environment, PackIt, for geometric planning tasks.
result Demonstrated the effectiveness of various methods for geometric planning.
Efficiently plans large MDPs with weak function approximations.
problem Planning in large MDPs with limited function approximation capabilities.
method Uses linear value function approximation with weak requirements and a generative oracle.
result Produces almost-optimal actions for any state with polynomial computation time.
Enhanced route planning with probabilistic prediction and uncertainty sets.
problem Improving route planning reliability under uncertainty.
method CQR-GAE model integrating conformal prediction and uncertainty sets.
result Significantly outperforms baseline methods in real-world traffic scenarios.
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based optimal motion planning framework (SBOMP) that utilized numerical or model-based heuristics that did not consider dynamic obstacles. Optimal…
Model-based reinforcement learning (MBRL) with model-predictive control or online planning has shown great potential for locomotion control tasks in terms of both sample efficiency and asymptotic performance. Despite their initial successes, the existing planning methods search from candidate sequences randomly generat…
This paper optimizes DC pension plan investments using O-U process and loan.
problem Optimizing investment strategy for DC pension plans under specific market conditions.
method Dynamic programming and Hamilton-Jacobi-Bellman equation to derive optimal investment strategy.
result Explicit expression for optimal investment strategy derived.
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…
Investment strategies in occupational pension plans are optimized for non-tradable income risk.
problem Optimizing investment strategies for occupational pension plans in the presence of non-tradable income risk.
method Formulated as a stochastic optimization problem, analyzed in both constant and stochastic volatility environments.
result Random contributions induce the optimal glide path structure, influenced by initial wealth, contributions, and risk aversion.
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.
Bayesian approach to optimal transport with stochastic costs.
problem Inferring optimal transport plans with uncertain costs.
method Bayesian framework and Hamiltonian Monte Carlo (HMC) sampling.
result Inference of optimal transport plans under stochastic cost functions.
Study experiment planning with function approximation in contextual bandit problems.
problem Designing effective data collection strategies in settings with limited rewards.
method Proposes two experiment planning strategies compatible with function approximation.
result Eluder planning and sampling procedure achieves optimality guarantees.
Investigates risk measures for DC pension decumulation.
problem Develop optimal decumulation strategies for DC plan holders.
method Formulates decumulation as a control problem, studies risk measures (expected shortfall, linear shortfall, probability of shortfall).
result Optimal controls for expected reward and expected shortfall are identical to those for expected reward and linear shortfall.
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…
Improved CEM for fast real-time planning in high-dimensional control tasks.
problem Sampling inefficiency of CEM in real-time planning.
method Novel additions to CEM including temporally-correlated actions and memory.
result 2.7-22x less samples and 1.2-10x performance increase.
Framework uses RL and simulation for optimal microgrid energy storage planning.
problem Optimal investment in diverse energy storage technologies for microgrids.
method Combines reinforcement learning with simulation-based optimization for long-term planning.
result Derives better engineering solutions for future microgrid applications.
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.
Study shows how optimal transport behaves in higher dimensions.
problem Characterizing optimal transport in higher dimensions with Euclidean distance.
method Investigates the small regularization limit of entropic optimal transport.
result The limiting transport plan is supported on transport rays and uniquely minimizes a relative entropy functional.
New method for optimistic planning in MDPs using regularization.
problem Optimistic planning in infinite-horizon discounted MDPs.
method Regularized dynamic programming for approximate value iteration.
result Achieves near-optimal statistical guarantees in learning policies.
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.
A neural network approach solves optimal decumulation problems for pension plans.
problem Optimal asset allocation and withdrawal strategies for DC pension holders.
method Data-driven neural network optimization with customized activation functions.
result The neural network approach learns near-optimal solutions comparable to HJB PDE methods.
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.
Reward tweaking optimizes behavior for long-term goals by adjusting the reward function.
problem Optimizing behavior for long-term goals in reinforcement learning with unstable long planning horizons.
method Reward tweaking learns a surrogate reward function that induces optimal behavior for the original task.
result Reward tweaking guides agents towards better long-term returns while planning for short horizons.
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.
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…
Neural A* uses machine learning to improve path planning efficiency.
problem Challenges in applying machine learning to search-based path planning.
method Reformulated A* search as a differentiable network coupled with a convolutional encoder.
result Neural A* outperforms state-of-the-art planners in optimality and efficiency.
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.
Efficiently computes optimal policies for Entropic Risk Measures.
problem Optimizing risk-sensitive metrics in MDPs is computationally expensive.
method Uses Entropic Risk Measures and novel structural analysis for efficient computation.
result Achieves strong performance in various decision-making scenarios.