Machine learning can analyze vast amounts of data generated by IoT devices to identify patterns, make predictions, and enable real-time decision-making. By processing sensor data, machine learning models can optimize processes, improve efficiency, and enhance personalized user experiences in smart systems. However, IoT systems are often deployed in sensitive environments such as households and offices, where they may inadvertently expose identifiable information, including location, habits, and personal identifiers. This raises significant privacy concerns, necessitating the application of data minimization -- a foundational principle in emerging data regulations, which mandates that service providers only collect data that is directly relevant and necessary for a specified purpose. Despite its importance, data minimization lacks a precise technical definition in the context of sensor data, where collections of weak signals make it challenging to apply a binary "relevant and necessary" rule. This paper provides a technical interpretation of data minimization in the context of sensor streams, explores practical methods for implementation, and addresses the challenges involved. Through our approach, we demonstrate that our framework can reduce user identifiability by up to 16.7% while maintaining accuracy loss below 1%, offering a viable path toward privacy-preserving IoT data processing.

Monte Carlo Tree Search (MCTS) has emerged as a powerful tool for decision-making in robotics, enabling efficient exploration of large search spaces. However, traditional MCTS methods struggle in environments characterized by high uncertainty and noisy data due to their reliance on final-step reward evaluation. The lack of intermediate feedback during search often results in suboptimal decision-making and computational inefficiencies. This paper introduces Reward-Centered ReST-MCTS, a novel framework that enhances MCTS by incorporating intermediate reward shaping. The core of our approach is the Rewarding Center, which refines search trajectories by dynamically assigning partial rewards using rule-based validation, heuristic guidance, and neural estimation. By integrating these mechanisms, our method enables real-time optimization of search paths, mitigating the effects of error propagation. We evaluate Reward-Centered ReST-MCTS in robotic manipulation tasks under high uncertainty, demonstrating consistent improvements in decision accuracy. Compared to baseline methods, including Chain-of-Thought (CoT) prompting and Vanilla ReST-MCTS, our framework achieves a 2-4% accuracy improvement while maintaining computational feasibility. Ablation studies confirm the effectiveness of intermediate feedback in search refinement, particularly in pruning incorrect decision paths early. Furthermore, robustness tests show that our method retains high performance across varying levels of uncertainty.

Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases: When the demonstration set does not include examples of how to act in all possible situations, the action may fail and can result in cascading errors. To solve this problem, we propose a framework that uses serialized Finite State Machine (FSM) to generate demonstrations and improve the success rate in manipulation tasks requiring a long sequence of precise interactions. To validate its effectiveness, we use environmentally evolving and long-horizon puzzles that require long sequential actions. Experimental results show that our approach achieves a success rate of up to 98 in these tasks, compared to the controlled condition using existing approaches, which only had a success rate of up to 60, and, in some tasks, almost failed completely.

Process supervision, i.e., evaluating each step, is critical for complex large language model (LLM) reasoning and test-time searching with increased inference compute. Existing approaches, represented by process reward models (PRMs), primarily focus on rewarding signals up to the current step, exhibiting a one-directional nature and lacking a mechanism to model the distance to the final target. To address this problem, we draw inspiration from the A* algorithm, which states that an effective supervisory signal should simultaneously consider the incurred cost and the estimated cost for reaching the target. Building on this key insight, we introduce BiRM, a novel process supervision model that not only evaluates the correctness of previous steps but also models the probability of future success. We conduct extensive experiments on mathematical reasoning tasks and demonstrate that BiRM provides more precise evaluations of LLM reasoning steps, achieving an improvement of 3.1% on Gaokao2023 over PRM under the Best-of-N sampling method. Besides, in search-based strategies, BiRM provides more comprehensive guidance and outperforms ORM by 5.0% and PRM by 3.8% respectively on MATH-500.

In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimization-based techniques with a guided forward search to address complex, constrained sequential manipulation challenges, such as pick-and-place puzzles. SeGMan incorporates an adaptive subgoal selection method that adjusts the granularity of subgoals, enhancing overall efficiency. Furthermore, proposed generalizable heuristics guide the forward search in a more targeted manner. Extensive evaluations in maze-like tasks populated with numerous objects and obstacles demonstrate that SeGMan is capable of generating not only consistent and computationally efficient manipulation plans but also outperform state-of-the-art approaches.

We introduce Pok\'eChamp, a minimax agent powered by Large Language Models (LLMs) for Pok\'emon battles. Built on a general framework for two-player competitive games, Pok\'eChamp leverages the generalist capabilities of LLMs to enhance minimax tree search. Specifically, LLMs replace three key modules: (1) player action sampling, (2) opponent modeling, and (3) value function estimation, enabling the agent to effectively utilize gameplay history and human knowledge to reduce the search space and address partial observability. Notably, our framework requires no additional LLM training. We evaluate Pok\'eChamp in the popular Gen 9 OU format. When powered by GPT-4o, it achieves a win rate of 76% against the best existing LLM-based bot and 84% against the strongest rule-based bot, demonstrating its superior performance. Even with an open-source 8-billion-parameter Llama 3.1 model, Pok\'eChamp consistently outperforms the previous best LLM-based bot, Pok\'ellmon powered by GPT-4o, with a 64% win rate. Pok\'eChamp attains a projected Elo of 1300-1500 on the Pok\'emon Showdown online ladder, placing it among the top 30%-10% of human players. In addition, this work compiles the largest real-player Pok\'emon battle dataset, featuring over 3 million games, including more than 500k high-Elo matches. Based on this dataset, we establish a series of battle benchmarks and puzzles to evaluate specific battling skills. We further provide key updates to the local game engine. We hope this work fosters further research that leverage Pok\'emon battle as benchmark to integrate LLM technologies with game-theoretic algorithms addressing general multiagent problems. Videos, code, and dataset available at https://sites.google.com/view/pokechamp-llm.

We offer a new in-depth investigation of global path planning (GPP) for unmanned ground vehicles, an autonomous mining sampling robot named ROMIE. GPP is essential for ROMIE's optimal performance, which is translated into solving the traveling salesman problem, a complex graph theory challenge that is crucial for determining the most effective route to cover all sampling locations in a mining field. This problem is central to enhancing ROMIE's operational efficiency and competitiveness against human labor by optimizing cost and time. The primary aim of this research is to advance GPP by developing, evaluating, and improving a cost-efficient software and web application. We delve into an extensive comparison and analysis of Google operations research (OR)-Tools optimization algorithms. Our study is driven by the goal of applying and testing the limits of OR-Tools capabilities by integrating Reinforcement Learning techniques for the first time. This enables us to compare these methods with OR-Tools, assessing their computational effectiveness and real-world application efficiency. Our analysis seeks to provide insights into the effectiveness and practical application of each technique. Our findings indicate that Q-Learning stands out as the optimal strategy, demonstrating superior efficiency by deviating only 1.2% on average from the optimal solutions across our datasets.

We study the greedy (exploitation-only) algorithm in bandit problems with a known reward structure. We allow arbitrary finite reward structures, while prior work focused on a few specific ones. We fully characterize when the greedy algorithm asymptotically succeeds or fails, in the sense of sublinear vs. linear regret as a function of time. Our characterization identifies a partial identifiability property of the problem instance as the necessary and sufficient condition for the asymptotic success. Notably, once this property holds, the problem becomes easy--any algorithm will succeed (in the same sense as above), provided it satisfies a mild non-degeneracy condition. We further extend our characterization to contextual bandits and interactive decision-making with arbitrary feedback, and demonstrate its broad applicability across various examples. Keywords: Multi-armed bandits, contextual bandits, structured bandits, greedy algorithm, regret.

Combinatorial optimization problems often rely on heuristic algorithms to generate efficient solutions. However, the manual design of heuristics is resource-intensive and constrained by the designer's expertise. Recent advances in artificial intelligence, particularly large language models (LLMs), have demonstrated the potential to automate heuristic generation through evolutionary frameworks. Recent works focus only on well-known combinatorial optimization problems like the traveling salesman problem and online bin packing problem when designing constructive heuristics. This study investigates whether LLMs can effectively generate heuristics for niche, not yet broadly researched optimization problems, using the unit-load pre-marshalling problem as an example case. We propose the Contextual Evolution of Heuristics (CEoH) framework, an extension of the Evolution of Heuristics (EoH) framework, which incorporates problem-specific descriptions to enhance in-context learning during heuristic generation. Through computational experiments, we evaluate CEoH and EoH and compare the results. Results indicate that CEoH enables smaller LLMs to generate high-quality heuristics more consistently and even outperform larger models. Larger models demonstrate robust performance with or without contextualized prompts. The generated heuristics exhibit scalability to diverse instance configurations.

Recently, gradient-based discrete sampling has emerged as a highly efficient, general-purpose solver for various combinatorial optimization (CO) problems, achieving performance comparable to or surpassing the popular data-driven approaches. However, we identify a critical issue in these methods, which we term ''wandering in contours''. This behavior refers to sampling new different solutions that share very similar objective values for a long time, leading to computational inefficiency and suboptimal exploration of potential solutions. In this paper, we introduce a novel reheating mechanism inspired by the concept of critical temperature and specific heat in physics, aimed at overcoming this limitation. Empirically, our method demonstrates superiority over existing sampling-based and data-driven algorithms across a diverse array of CO problems.