Computing the partition function is a key inference task in many graphical models. In this paper, we propose a dynamic importance sampling scheme that provides anytime finite-sample bounds for the partition function.

Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a hierarchical graph to represent the environment, encoding both geometric and semantic traversability. The framework enables the robots to compute a shared confidence metric, which helps the ground robot assess terrain and determine when deploying the aerial robot will extend exploration. The robot's confidence in traversing a path is based on factors such as predicted volumetric gain, path traversability, and collision risk. A hierarchy of graphs is used to maintain an efficient representation of traversability and frontier information through multi-resolution maps. Evaluated in a real subterranean exploration scenario, the approach allows the ground robot to autonomously identify zones that are no longer traversable but suitable for aerial deployment. By leveraging this hierarchical structure, the ground robot can selectively share graph information on confidence-assessed frontier targets from parts of the scene, enabling the aerial robot to navigate beyond obstacles and continue exploration.

For example, to answer explore and develop a semantic understanding of an unseen the question "How many chairs are there at the dining environment in order to answer a situated question table?", the agent might rely on commonsense knowledge with confidence. This remains a challenging problem in to understand that dining tables are often associated with robotics, due to the difficulties in obtaining useful semantic dining rooms and dining rooms are usually near the kitchen representations, updating these representations online, and towards the back of a home. A reasonable navigation strategy leveraging prior world knowledge for efficient exploration would involve navigating to the back of the house to and planning. Aiming to address these limitations, we propose locate a kitchen. To ground this search in the current environment, GraphEQA, a novel approach that utilizes real-time however, requires the agent to continually maintain 3D metric-semantic scene graphs (3DSGs) and task relevant an understanding of where it is, memory of where it images as multi-modal memory for grounding Vision-has been, and what further exploratory actions will lead it Language Models (VLMs) to perform EQA tasks in unseen to relevant regions. Finally, the agent needs to observe the environments. We employ a hierarchical planning approach target object(s) and perform visual grounding, in order to that exploits the hierarchical nature of 3DSGs for structured reason about the number of chairs around the dining table, planning and semantic-guided exploration. Through experiments and confidently answer the question correctly.

We consider deep deterministic policy gradient (DDPG) in the context of reinforcement learning with sparse rewards. To enhance exploration, we introduce a search procedure, \emph{${\epsilon}{t}$-greedy}, which generates exploratory options for exploring less-visited states. We prove that search using $\epsilon t$-greedy has polynomial sample complexity under mild MDP assumptions. To more efficiently use the information provided by rewarded transitions, we develop a new dual experience replay buffer framework, \emph{GDRB}, and implement \emph{longest n-step returns}. The resulting algorithm, \emph{ETGL-DDPG}, integrates all three techniques: \bm{$\epsilon t$}-greedy, \textbf{G}DRB, and \textbf{L}ongest $n$-step, into DDPG. We evaluate ETGL-DDPG on standard benchmarks and demonstrate that it outperforms DDPG, as well as other state-of-the-art methods, across all tested sparse-reward continuous environments. Ablation studies further highlight how each strategy individually enhances the performance of DDPG in this setting.

Computing the partition function is a key inference task in many graphical models. In this paper, we propose a dynamic importance sampling scheme that provides anytime finite-sample bounds for the partition function. Our algorithm balances the advantages of the three major inference strategies, heuristic search, variational bounds, and Monte Carlo methods, blending sampling with search to refine a variationally defined proposal. Our algorithm combines and generalizes recent work on anytime search [16] and probabilistic bounds [15] of the partition function. By using an intelligently chosen weighted average over the samples, we construct an unbiased estimator of the partition function with strong finite-sample confidence intervals that inherit both the rapid early improvement rate of sampling and the long-term benefits of an improved proposal from search. This gives significantly improved anytime behavior, and more flexible trade-offs between memory, time, and solution quality. We demonstrate the effectiveness of our approach empirically on real-world problem instances taken from recent UAI competitions.

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for long-range planning, exploration and low-level control in unknown off-trail forest terrain, using vision and GPS only. We represent outdoor terrain with a topological map, which is a set of panoramic snapshots connected with edges containing traversability information. A novel traversability analysis method is demonstrated, predicting the existence of a safe path towards a target in an image. Navigating between nodes is done using goal-conditioned behavior cloning, leveraging the power of a pretrained vision transformer. An exploration planner is presented, efficiently covering an unknown off-road area with unknown traversability using a frontiers-based approach. The approach is successfully deployed to autonomously explore two 400 meters squared forest sites unseen during training, in difficult conditions for navigation.

Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a Rapidly-Exploring Random Tree* (RRT*) planner. Our approach begins with the generation of a high-resolution SGP local map, providing an interpolated representation of the robot's immediate environment. This map captures crucial environmental variations, including height, uncertainties, and slope characteristics. Subsequently, we construct a traversability map based on the SGP representation to guide our planning process. The RRT* planner efficiently generates real-time navigation paths, avoiding untraversable terrain in pursuit of the goal. This combination of SGP-based terrain interpretation and RRT* planning enables ground robots to safely navigate environments with varying elevations and steep obstacles. We evaluate the performance of our proposed approach through robust simulation testing, highlighting its effectiveness in achieving safe and efficient navigation compared to existing methods.

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic scene changes in previously explored areas. The framework is structured around a novel goal oriented graph representation, that consists of, i) the local sub-graph and ii) the global graph layer respectively. The local sub-graphs encode local volumetric gain locations as frontiers, based on the direct pointcloud visibility, allowing fast graph building and path planning. Additionally, the global graph is build in an efficient way, using node-edge information exchange only on overlapping regions of sequential sub-graphs. Different from the state-of-the-art graph based exploration methods, the proposed approach efficiently re-uses sub-graphs built in previous iterations to construct the global navigation layer. Another merit of the proposed scheme is the ability to handle scene changes (e.g. blocked pathways), adaptively updating the obstructed part of the global graph from traversable to not-traversable. This operation involved oriented sample space of a path segment in the global graph layer, while removing the respective edges from connected nodes of the global graph in cases of obstructions. As such, the exploration behavior is directing the robot to follow another route in the global re-positioning phase through path-way updates in the global graph. Finally, we showcase the performance of the method both in simulation runs as well as deployed in real-world scene involving a legged robot carrying camera and lidar sensor.

Text-to-SQL aims to generate an executable SQL program given the user utterance and the corresponding database schema. To ensure the well-formedness of output SQLs, one prominent approach adopts a grammar-based recurrent decoder to produce the equivalent SQL abstract syntax tree (AST). However, previous methods mainly utilize an RNN-series decoder, which 1) is time-consuming and inefficient and 2) introduces very few structure priors. In this work, we propose an AST structure-aware Transformer decoder (ASTormer) to replace traditional RNN cells. The structural knowledge, such as node types and positions in the tree, is seamlessly incorporated into the decoder via both absolute and relative position embeddings. Besides, the proposed framework is compatible with different traversing orders even considering adaptive node selection. Extensive experiments on five text-to-SQL benchmarks demonstrate the effectiveness and efficiency of our structured decoder compared to competitive baselines.

We present several new algorithms for bidirectional best-first search that employ a front-to-front strategy of estimating distances from newly-generated frontier nodes in one search direction to existing frontier nodes in the other search direction, rather than estimating distances to terminal nodes in both searches. Unlike previous front-to-front strategies that use a shared priority queue to manage both frontiers, we use a separate data structure for each search, and choose that data structure to minimize the amount of computational effort required by the best-first search algorithm it supports.