arXiv AI
Jul 17
VOiLA: Vectorized Online Planning with Learned Diffusion Models for POMDP Agents
arXiv:2606. 19729v2 Announce Type: replace-cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
VOiLA: Vectorized Online Planning with Learned Diffusion Model for POMDP Agents
arXiv:2606. 19729v1 Announce Type: cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
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arXiv AI
Jun 16
PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty
arXiv:2606. 15654v1 Announce Type: cross Abstract: Real-world robot task planning must operate under both stochastic action execution and partial observability, yet constructing Partially Observable Markov Decision Process (POMDP) models for real robotics domains remains difficult and labor-intensive.
arXiv AI
Jun 4
Vectorized Online POMDP Planning
arXiv:2510. 27191v5 Announce Type: replace-cross Abstract: Planning under partial observability is an essential capability of autonomous robots.
arXiv Machine Learning
Jul 17
DriftWorld: Fast World Modeling through Drifting
arXiv:2607. 15065v1 Announce Type: cross Abstract: Predictive world models enable robots to plan by imagining the outcomes of their actions, but their value for control hinges on generating many rollouts quickly.
arXiv AI
Jun 24
LaGO: Latent Action Guidance for Online Reinforcement Learning
arXiv:2606. 24669v1 Announce Type: new Abstract: Large language models (LLMs) have shown strong potential for planning and sequential decision-making, but prior work often relies on using them as direct controllers, which requires precise action generation and can be unreliable in practice.
arXiv AI
Jun 16
HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization
arXiv:2606. 16480v1 Announce Type: cross Abstract: Robots deployed in the real world must plan motions across diverse scenarios without per-scenario retuning.
arXiv AI
Aug 3
RAPiD: Reward-Guided Consistency Distillation of Diffusion Planners for Real-Time Autonomous Driving
arXiv:2602. 07339v2 Announce Type: replace Abstract: Diffusion-based trajectory planners can model multi-modal driving behavior, but their iterative denoising process introduces a latency bottleneck for real-time closed-loop deployment.
arXiv Machine Learning
Jun 10
MODIP: Efficient Model-Based Optimization for Diffusion Policies
arXiv:2606. 10825v1 Announce Type: new Abstract: Diffusion policies (DPs) have emerged as expressive policy representations for robot learning, often used with imitation learning methods such as behavioral cloning (BC).
Hugging Face Trending Papers
Aug 3
Analytic Planning under Uncertainty with Moment Closure
Effective model-based reinforcement learning in stochastic environments requires planning that accounts for predictive uncertainty. Propagating full state distributions analytically offers a principled way to do this, but has traditionally required restrictive policy or reward structures to remain tractable.
arXiv AI
Jun 2
Improving Diffusion Planners by Self-Supervised Action Gating with Energies
arXiv:2603. 02650v2 Announce Type: replace-cross Abstract: Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution.
arXiv Machine Learning
Aug 4
Analytic Planning under Uncertainty with Moment Closure
arXiv:2608. 02519v1 Announce Type: new Abstract: Effective model-based reinforcement learning in stochastic environments requires planning that accounts for predictive uncertainty.
arXiv Machine Learning
Jul 23
Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction
arXiv:2607. 19919v1 Announce Type: cross Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisable denoising over horizons.