This work considers the sample and computational complexity of obtaining an -optimal policy in a discounted Markov Decision Process (MDP), given only access to a generative model. In this work, we study the effectiveness of the most natural plug-in approach to model-based planning: we build the maximum likelihood es…
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48 results for “sample size planning”
Estimates sample size for subgroup analysis in randomized experiments.
problem Determining sample size for accurate subgroup analysis.
method Turns inference problem into simultaneous inference, calculates sample size based on confidence level and margin of error.
result Allows inversion of sample size to feasible number of treatment arms or partition complexity.
In biospectroscopy, suitably annotated and statistically independent samples (e. g. patients, batches, etc.) for classifier training and testing are scarce and costly. Learning curves show the model performance as function of the training sample size and can help to determine the sample size needed to train good classi…
Swept Volume (SV), the volume displaced by an object when it is moving along a trajectory, is considered a useful metric for motion planning. First, SV has been used to identify collisions along a trajectory, because it directly measures the amount of space required for an object to move. Second, in sampling-based moti…
Adapts DR objectives for both sample and feature size reduction.
problem Simultaneously reduce sample and feature sizes.
method Semi-relaxed Gromov-Wasserstein optimal transport.
result OT plan delivers competitive hard clustering.
We derive formulas for F measures' standard error and confidence intervals.
problem Estimating F measures' accuracy with confidence.
method Analytic formulas based on asymptotic normality.
result Valid formulas for sample size planning.
Study evaluates consistency of LLMs in binary text classification, providing systematic guidance.
problem Lack of reliable methods for evaluating large language model (LLM) binary text classification.
method Adapting psychometric principles, the study determines sample size requirements, develops metrics for invalid responses, and evaluates intra- and inter-rater reliability.
result LLMs demonstrated high intra-rater consistency, achieving perfect agreement on 90-98% of examples, with smaller models outperforming larger counterparts.
pmsims R package uses Gaussian process for flexible sample size estimation in clinical models.
problem Determining adequate sample size for clinical prediction models.
method Simulation-based Gaussian process search for flexible sample size estimation.
result Gaussian process-based method produces more stable sample size estimates, especially in challenging settings.
Paper overcomes sample size barrier in reinforcement learning with generative models.
problem Sample efficiency in reinforcement learning with generative models.
method Developed two algorithms to certify minimax optimality of sample complexity.
result Achieved minimax-optimal guarantees for a wide range of sample sizes.
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.
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 …
Study optimizes data collection from biased, costly sources to minimize risk.
problem Estimating population means and group-conditional means from multiple sources with varying costs and biases.
method Develops a sampling plan that maximizes effective sample size, paired with a post-stratification estimator.
result Achieves budgeted minimax optimal risk for estimating population means and group-conditional means.
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.
Paper improves sample complexity for robust reinforcement learning.
problem Minimizing sample complexity for robust reinforcement learning.
method Analyzes sample complexity for any planning algorithm in robust MDPs.
result Improves sample complexity to O(H^4 |S| |A| / ε^2) for robust MDPs.
Neural planners for RDDL MDPs produce deep reactive policies in an offline fashion. These scale well with large domains, but are sample inefficient and time-consuming to train from scratch for each new problem. To mitigate this, recent work has studied neural transfer learning, so that a generic planner trained on othe…
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.
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…
New algorithm reduces sample complexity for planning in MDPs.
problem Planning in MDPs with unknown transitions.
method MDP-GapE, a trajectory-based MCTS algorithm.
result Proves upper bound on sample complexity in terms of sub-optimality gaps.
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.
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.
Survival models predict component failures using neural networks and resampled data.
problem Accurately predicting component failure times for maintenance planning.
method Neural network-based survival models trained on non-independent, homogeneously sampled data.
result Random resampling during training reduces dataset size and improves efficiency.
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.
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.
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 …
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.
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…
Develops a method to plan exploration that learns strong policies with fewer samples.
problem Lack of efficient exploration in reinforcement learning for real-world tasks.
method Plans an action sequence that maximizes information gain about the optimal trajectory.
result 2x fewer samples than exploration baselines and 200x fewer than model-free methods.
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.
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.
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.
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…
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…
Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generationcs.LG
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…
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.
PAC-MCTS addresses biased search in LLM-guided planning by dynamically pruning.
problem Systematic biases in LLMs lead to inefficient and unsafe search in deep planning tasks.
method Formulates node expansion as BAI under bounded bias, derives sample complexity bounds, and proposes PAC-MCTS for dynamic confidence bounds.
result PAC-MCTS improves robustness and efficiency by up to 78% fewer API evaluations and 3x higher sample efficiency.
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…
Novel approach to OT using kernel mean embeddings controls overfitting and achieves dimension-free sample complexity.
problem Consistently estimate optimal transport plan from samples.
method Pose OT as learning kernel mean embedding, employ MMD regularization.
result ε-optimal recovery of transport plan and map with dimension-free sample complexity.
R3L uses planning algorithms to efficiently explore sparse reward environments.
problem Balancing exploration and exploitation in sparse reward reinforcement learning.
method Formulate exploration as a search problem using RRT, leverage demonstrations from initial solutions to refine RL policy.
result R3L outperforms classic and intrinsic exploration techniques, requiring fewer samples and achieving better asymptotic performance.
We consider the problem of online planning in a Markov Decision Process when given only access to a generative model, restricted to open-loop policies - i.e. sequences of actions - and under budget constraint. In this setting, the Open-Loop Optimistic Planning (OLOP) algorithm enjoys good theoretical guarantees but is …
Distribution and sample models are two popular model choices in model-based reinforcement learning (MBRL). However, learning these models can be intractable, particularly when the state and action spaces are large. Expectation models, on the other hand, are relatively easier to learn due to their compactness and have a…
Value Iteration Networks (VINs) are effective differentiable path planning modules that can be used by agents to perform navigation while still maintaining end-to-end differentiability of the entire architecture. Despite their effectiveness, they suffer from several disadvantages including training instability, random …
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…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into sampling-based motion planning methods, which train a classifier to distinguish coll…
New algorithm for RL with horizon-free reward-free exploration for linear MDPs.
problem Reward-free reinforcement learning with long planning horizons.
method Uncertainty-weighted value-targeted regression with exploration-driven pseudo-reward and moment estimator.
result Horizon-free sample complexity of for finding an -optimal policy.
The explore{exploit dilemma is one of the central challenges in Reinforcement Learning (RL). Bayesian RL solves the dilemma by providing the agent with information in the form of a prior distribution over environments; however, full Bayesian planning is intractable. Planning with the mean MDP is a common myopic approxi…
Transformers learn to predict chess moves with surprising accuracy and strength.
problem Training transformers on chess to predict moves accurately.
method Large-scale chess dataset (10M games), supervised learning with up to 270M parameters.
result Transformers can predict action-values for novel boards with high accuracy.
The scaling of income inequality in citiesphysics.soc-ph
Developing a scientific understanding of cities in a fast urbanizing world is essential for planning sustainable urban systems. Recently, it was shown that income and wealth creation follow increasing returns, scaling superlinearly with city size. We study scaling of per capita incomes for separate census defined incom…
Plan2Vec learns image representations without labels, improving control tasks.
problem Learning image representations without labeled data.
method Constructs a weighted graph using near-neighbor distances and extrapolates to global embedding.
result Plan2Vec achieves accurate long-term value estimates in control tasks with reduced computational and memory costs.