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.
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…
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 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.
PALM learns abstract models for efficient planning and task transfer.
problem Efficiently learning and transferring hierarchical models for planning.
method PALM uses a new formal structure (L-AMDP) to learn independent, modular models at multiple levels of abstraction.
result PALM integrates planning and execution, facilitating rapid learning of abstract models.
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.
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…
PDSketch enables flexible robot planning by learning from domain structures.
problem Building general robots with flexible planning.
method Exploiting locality and sparsity in environmental models, PDSketch defines high-level structures for trainable neural networks.
result PDSketch automatically generates planning heuristics without additional training.
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.
Efficient algorithms for planning in cooperative multi-agent reinforcement learning with combinatorial action spaces.
problem Planning in cooperative multi-agent reinforcement learning with a combinatorial action space.
method Efficient algorithms using local access to a simulator and linear function approximation, with improvements for additive feature decomposition and kernelized settings.
result Polynomial compute and query complexity in relevant problem parameters.
This paper studies when particle filtering is efficient for planning in partially observed systems.
problem The efficiency of particle filtering for planning in partially observed linear dynamical systems.
method Coupling of ideal and approximate sequences to bound particle complexity.
result Polynomially many particles suffice for stable systems to approximate optimal planning.
E2C separates planning and execution in LLMs, improving efficiency and performance.
problem Entangled planning and execution in LLMs waste tokens and limit flexibility.
method E2C splits exploration and execution phases, using SFT and RL for training.
result E2C achieves 53.3% accuracy on AIME'2024 with 12.4k tokens, outperforming alternatives.
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…
Retro* uses neural networks to efficiently find high-quality synthetic routes in organic chemistry.
problem Finding efficient synthetic routes in organic chemistry is challenging due to the vast search space.
method Retro* is a neural-based A*-like algorithm that learns a neural search bias to guide efficient best-first search.
result Retro* outperforms existing methods in both success rate and solution quality while being more efficient.
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.
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 …
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.
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.
Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for planning actions but this has been challenging because of inaccuracies in the learned …
New AI model improves grid planning efficiency and reliability.
problem Improving distribution grid planning with AI for energy sustainability.
method Hyperstructures Graph Convolutional Neural Networks (Hyper-GCNNs) with attention mechanism.
result Hyper-GCNNs outperforms existing models in computational efficiency and accuracy.
XLVINs improve data efficiency in implicit planning by leveraging latent space.
problem Improving data efficiency in implicit planning algorithms.
method XLVINs use a high-dimensional latent space to perform planning computations, breaking the algorithmic bottleneck.
result XLVINs significantly improve data efficiency across various settings compared to value iteration-based implicit planners and model-free baselines.
CriticSMC improves planning efficiency in constrained environments.
problem Planning with hard constraints in dynamic environments.
method Sequential Monte Carlo with learned heuristic factors.
result CriticSMC reduces collision rates with low computational cost.
EDGI improves sample efficiency and generalization in tasks with spatial and temporal symmetries.
problem Sample inefficiency and poor generalization in tasks with geometric symmetries.
method Equivariant Diffuser framework, SE(3)xZxSn-equivariant diffusion model.
result EDGI is more sample efficient and generalizes better than non-equivariant models.
The paper introduces affordances for reinforcement learning, improving planning and learning efficiency.
problem Reinforcement learning assumes all actions are available, but real-world agents face limited action spaces.
method Developed a theory of affordances for Markov Decision Processes, proposing methods to learn and use affordances.
result Affordances improve planning speed and learning efficiency, leading to simpler and better generalizing transition models.
The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combination…
Integrates skills and world models for efficient task solving and transfer.
problem Quickly solve new tasks in complex environments using reusable knowledge.
method Leverages partial amortization for fast adaptation and online skill planning.
result Improved sample efficiency in single tasks and transfer between tasks.
Plan2Explore learns new tasks efficiently through self-supervised planning.
problem Challenges in reinforcement learning, especially task-specific learning and sample efficiency.
method Self-supervised exploration and fast adaptation to new tasks through efficient planning.
result Plan2Explore outperforms prior methods in learning new tasks without supervision.
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.
Proposes learning latent reward model for planning from rewards.
problem Planning in high-dimensional state spaces with limited reward information.
method Directly learns a latent dynamics model from rewards, planning in latent state-space.
result Successfully learns accurate latent reward prediction model, achieving strong performance and high sample efficiency.
DDPD separates generation into planning and denoising for improved efficiency.
problem Efficiently denoise corrupted data during generation.
method Separates generation into a planner and denoiser, selecting denoising positions based on corruption severity.
result DDPD outperforms traditional methods on language and image generation benchmarks.
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…
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…
Deep network solves maze path planning without training.
problem Efficient path planning in large mazes with obstacles.
method Max pooling layers without training.
result Solves mazes with over half a billion nodes in short time.
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…
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 …
We propose a meta path planning algorithm named \emph{Neural Exploration-Exploitation Trees~(NEXT)} for learning from prior experience for solving new path planning problems in high dimensional continuous state and action spaces. Compared to more classical sampling-based methods like RRT, our approach achieves much bet…
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.
Paper analyzes neural network complexity for planning problems.
problem Understanding neural network complexity for planning policies.
method Circuit complexity analysis for relational neural networks.
result Three classes of planning problems identified based on network complexity.
State-of-the-art efficient model-based Reinforcement Learning (RL) algorithms typically act by iteratively solving empirical models, i.e., by performing \emph{full-planning} on Markov Decision Processes (MDPs) built by the gathered experience. In this paper, we focus on model-based RL in the finite-state finite-horizon…
Efficient local planning with linear approximations for agents with limited simulator access.
problem Planning with limited simulator access in reinforcement learning.
method Confident Monte Carlo Least Square Policy Iteration (Confident MC-LSPI) and Politex (Confident MC-Politex) algorithms.
result The algorithms can learn the optimal policy with local simulator access, even for linear Q-functions.
PlanGAN uses GANs to plan efficient trajectories for multi-goal tasks in sparse reward environments.
problem Learning with sparse rewards in multi-goal environments.
method PlanGAN combines GANs to generate trajectories leading to specified goals, then combines these into a planning algorithm.
result PlanGAN achieves comparable performance to model-free RL but is 4-8 times more sample efficient.
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.
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.
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…
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…
PBCS combines RL and motion planning for better exploration.
problem RL algorithms struggle with versatile exploration in complex environments.
method PBCS uses motion planning to find a good trajectory, then trains RL on a curriculum derived from it.
result PBCS outperforms state-of-the-art RL algorithms in 2D maze environments.
The paper tackles model-based RL's inaccuracy issue by dynamically adjusting planning horizons.
problem Model-based RL's failure due to model inaccuracy over long planning horizons.
method State-dependent planning horizon, learning cumulative model errors with Temporal Difference methods.
result The proposed method successfully adapts planning horizons to state-dependent model accuracy, improving policy learning efficiency.
For any business, planning is a continuous process, and typically business-owners focus on making both long-term planning aligned with a particular strategy as well as short-term planning that accommodates the dynamic market situations. An ability to perform an accurate financial forecast is crucial for effective plann…