Daniel Cao

Daniel Cao, Michael Katz, Harsha Kokel et al. · ibm-research

Large language models (LLMs) are being used to solve planning problems that require search. Most of the literature uses LLMs as world models to define the search space, forgoing soundness for the sake of flexibility. A recent work, Thought of Search (ToS), proposed defining the search space with code, having LLMs produce that code. ToS requires a human in the loop, collaboratively producing a sound successor function and goal test. The result, however, is worth the effort: all the tested datasets were solved with 100% accuracy. Consequently, there is great potential to automate the ToS process. We take a first major step towards automating ToS (AutoToS), taking the human out of the loop of interactions with the language model. AutoToS guides the language model step by step towards the generation of sound and complete search components, through feedback from both generic and domain specific unit tests. We show that AutoToS is able to achieve 100% accuracy on all the evaluated domains with a small number of LLM calls.

Daniel Cao, Beixi Du, Andrew Lowitt et al.

We study finite-horizon quadratic control of linear systems with bilinear observations, in which the control input affects not only the state dynamics but also the partial observations of the state. In this setting, the separation principle can fail because control inputs influence the future quality of state estimates. State estimation requires an input-dependent Kalman filter whose gain and error covariance evolve as functions of the control inputs. To address this challenge, we propose a belief-space model predictive control ($\texttt{B-MPC}$) method that plans directly over both the estimated state and its error covariance. In particular, $\texttt{B-MPC}$ plans with a deterministic surrogate of the belief evolution defined by the input-dependent Kalman filter. Through numerical experiments in two synthetic settings, we show that $\texttt{B-MPC}$ can outperform both the separation-principle controller and its MPC variant in favorable regimes, and that these gains are accompanied by lower estimation covariance and more uncertainty-aware action choices.