Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 14 of 14 for “"Model-based Planning"”.
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Model-based Planning for Efficient Task Execution
… answer in this thesis is: Can we build a unified planning framework that fuses visual and language into a single, interpretable representation, so that humans can interpret robots’ decisions? We propose a model-based planning framework built around pretrained vision-language models (VLMs). We show …
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Model-based planning for coordinated air vehicle missions
Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.
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Model-based planning through constraint and causal order decomposition
One of the major challenges in autonomous planning and sequencing is the theoretical complexity of planning problems. Even a simple STRIPS planning problem is PSPACEcomplete, and depending on the expressivity of the planning problem, the complexity of the problem can be EXPTIME-complete or worse. …
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A Model-Based Planning and Control Framework for Parkour-Style Legged Locomotion
… a fundamental challenge. This thesis presents a model-based framework for parkour-style locomotion, enabling robots to execute highly dynamic maneuvers such as jumps, rolls, and flips with precision and robustness. A key challenge in planning these motions is selecting an appropriate dynamic …
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High-speed autonomous obstacle avoidance with pushbroom stereo
… and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and …
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Learning Structured World Models From and For Physical Interactions
… multiple sensory modalities and build a mental model that predicts how the world would change if we applied a specific action (i.e., intuitive physics). This dissertation presents my research that draws on insights from humans and develops model-based reinforcement learning (RL) agents. The …
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Inferring Structured World Models from Videos
… at the same level. In this thesis, we propose a model-based reinforcement learning approach that represents the environment using an explicit symbolic model in the form of a domain-specific language (DSL) that represents the world as a set of discrete objects with underlying latent properties …
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Learning to Plan and Planning to Learn in Long-Horizon Robotics Tasks
… for constructing such a system: end-to-end model-free learning and model-based planning. Approaches from both paradigms have produced impressive isolated results, but both paradigms themselves are known to have significant limitations. Learning-based approaches often require impractical …
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Sample-Efficient Deep Reinforcement Learning for Continuous Control
… on bias and variance; and Temporal Difference Models (TDM), interpreting a parameterized Q-function as a generalized dynamics model for novel temporally abstracted model-based planning. Importantly, this thesis highlights that these algorithms can be seen as bridging gaps between branches of RL …
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Video as the Language of Embodied Intelligence
… recent efforts have extended Large Language Models (LLMs) to robotics by incorporating additional modalities, these adaptations face critical limitations in perception, grounding, and control. For example, spatial reasoning—a simple yet indispensable capability for robots—reveals one of such …
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Long-horizon motion planning with branch-and-bound and neural dynamics
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
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Dynamic 3D Gaussian tracking for graph-based neural dynamics modeling
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-02-04 without embargo terms
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Simultaneous activation of multiple memory systems during learning : insights from electrophysiology and modeling
… striatum during T-maze learning, a computational model was developed. This model localizes a model-free reinforcement learning (RL) system to the sensorimotor cortico-basal ganglia loop and localizes a model-based RL system to a network of structures including the associative cortico-basal ganglia …
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Planning for sustainable tourism development in the Lake Victoria shore region of Uganda : a physical environment planning approach
… Lake Victoria shore region of southern Uganda, based on the physical environment indicators of sustainable tourism. This arose out of the observation that tourism in this region was developing in an unplanned manner which was likely to be environmentally destructive. The study was conducted as a …