Get to know your Duncan Hall neighbors! Join Rice CS for coffee & a series of talks on algorithms & machine learning at Rice.
Coffee & Food for Thought: Algorithms & ML
Presenter: Yiyuan Lee, Rice CS Ph.D. student advised by Prof. Lydia Kavraki
Title: The Planner Optimization Problem: Formulations and Frameworks
Wed, March 29, 2023, 2-3pm Central
Duncan Hall 1049
Abstract: Identifying internal parameters for planning is crucial to maximizing the performance of a planner. However, automatically tuning internal parameters which are conditioned on the problem instance is especially challenging. A recent line of work focuses on extremely general learning methods which can learn highly effective generators with very little assumptions on the internals of the planner. However, they lack a consistent problem formulation and software framework. This work proposes the unified planner optimization problem (POP) formulation, along with the Open Planner Optimization Framework (OPOF), a highly extensible software framework to specify and to solve these problems in a reusable manner.
Bio: Yiyuan Lee is a second-year Ph.D student at Rice University advised by Lydia Kavraki. He is broadly interested in integrating learning and simulation for planning in robotics. His works have been published in top robotics conferences and journals such as RSS, IEEE ICRA, and IEEE RA-L.
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