5 accepted papers
We present a novel framework for embedding hard constraint satisfaction into neural network (NN) architectures, specifically feedforward neural networks and transformers, with input-dependent affine constraints of arbitrary cardinality. Traditional constraint enforcement approaches either rely on pe…
Diffusion-based planners have achieved generalization comparable to classical planners by leveraging inference-time optimization through guidance. However, their limited ability to capture environmental variations often constrains their responsiveness in unseen settings. In addition, the diversity-c…
Existing Autonomous Mobility-on-Demand (AMoD) systems and demand-responsive algorithms are designed to adaptively respond to traffic demands, enhancing traffic service quality and profitability. However, such approaches may exacerbate traffic congestion by concentrating vehicles in high-demand areas
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a more comprehensive estimation but is often computationally chal
The RRT* algorithm has efficiently extended Rapidly-exploring Random Trees (RRTs) to endow it with asymptotic optimality. We propose Goal-Rooted Feedback Motion Trees (GR-FMTs) that honor state/input constraints and generate collision-free feedback policies. Given analytic solutions for optimal loca…