Éric Jacopin

Kevin Osanlou, Christophe Guettier, Tristan Cazenave et al.

This short review aims to make the reader familiar with state-of-the-art works relating to planning, scheduling and learning. First, we study state-of-the-art planning algorithms. We give a brief introduction of neural networks. Then we explore in more detail graph neural networks, a recent variant of neural networks suited for processing graph-structured inputs. We describe briefly the concept of reinforcement learning algorithms and some approaches designed to date. Next, we study some successful approaches combining neural networks for path-planning. Lastly, we focus on temporal planning problems with uncertainty.

Kevin Osanlou, Jeremy Frank, Andrei Bursuc et al.

Planning under uncertainty is an area of interest in artificial intelligence. We present a novel approach based on tree search and graph machine learning for the scheduling problem known as Disjunctive Temporal Networks with Uncertainty (DTNU). Dynamic Controllability (DC) of DTNUs seeks a reactive scheduling strategy to satisfy temporal constraints in response to uncontrollable action durations. We introduce new semantics for reactive scheduling: Time-based Dynamic Controllability (TDC) and a restricted subset of TDC, R-TDC. We design a tree search algorithm to determine whether or not a DTNU is R-TDC. Moreover, we leverage a graph neural network as a heuristic for tree search guidance. Finally, we conduct experiments on a known benchmark on which we show R-TDC to retain significant completeness with regard to DC, while being faster to prove. This results in the tree search processing fifty percent more DTNU problems in R-TDC than the state-of-the-art DC solver does in DC with the same time budget. We also observe that graph neural network search guidance leads to substantial performance gains on benchmarks of more complex DTNUs, with up to eleven times more problems solved than the baseline tree search.

Éric Jacopin

AI coding assistants increasingly generate code alongside tests. How developers structure test code, whether inline with the implementation or in separate blocks, has traditionally been a matter of testing philosophy. We investigate whether this choice affects AI code generation quality. We conduct a large-scale empirical study (830+ generated files, 12 models, 3 providers) using SEGA, a three-dimensional evaluation framework measuring Determinism, Preservation, and Correctness. Comparing inline test syntax (Python doctests) against separated test syntax (Rust #[test] blocks) on a d-ary heap implementation, we find that: (1) inline tests yield near-perfect preservation (100%) and correctness (92-100%) across all models; (2) separated tests expose stark model-tier gaps (0-100% correctness) and independence between preservation and correctness; (3) model behavior evolves across generations, and notably one model breaks the test suppression pattern of its three predecessors; (4) mechanistic analysis on 7 open-source architectures (6 transformers and a gated-linear Recurrent Neural Network (RNN)) reveals inline test markers receive 2.8-4.4$\times$ stronger attention in 5/7 models, with causal validation via knockout and steering experiments on the 4 code-specialized transformers and RWKV-6; the co-location mechanism extends to a non-transformer architecture, suggesting the design recommendation is robust to future architectural shifts. In the Foundation Model era, test syntax structure is a software design concern: co-locating tests with implementation code produces measurably better AI-generated code. This arxiv long version includes appendices that further qualify the effect as bounded by both model capability and programming language.

Éric Jacopin

When do transformers commit to a decision, and what prevents them from correcting it? We introduce \textbf{prolepsis}: a transformer commits early, task-specific attention heads sustain the commitment, and no layer corrects it. Replicating \citeauthor{lindsey2025biology}'s (\citeyear{lindsey2025biology}) planning-site finding on open models (Gemma~2 2B, Llama~3.2 1B), we ask five questions. (Q1)~Planning is invisible to six residual-stream methods; CLTs are necessary. (Q2)~The planning-site spike replicates with identical geometry. (Q3)~Specific attention heads route the decision to the output, filling a gap flagged as invisible to attribution graphs. (Q4)~Search requires ${\leq}16$ layers; commitment requires more. (Q5)~Factual recall shows the same motif at a different network depth, with zero overlap between recurring planning heads and the factual top-10. Prolepsis is architectural: the template is shared, the routing substrates differ. All experiments run on a single consumer GPU (16\,GB VRAM).

Kevin Osanlou, Jeremy Frank, J. Benton et al.

Scheduling in the presence of uncertainty is an area of interest in artificial intelligence due to the large number of applications. We study the problem of dynamic controllability (DC) of disjunctive temporal networks with uncertainty (DTNU), which seeks a strategy to satisfy all constraints in response to uncontrollable action durations. We introduce a more restricted, stronger form of controllability than DC for DTNUs, time-based dynamic controllability (TDC), and present a tree search approach to determine whether or not a DTNU is TDC. Moreover, we leverage the learning capability of a message passing neural network (MPNN) as a heuristic for tree search guidance. Finally, we conduct experiments for which the tree search shows superior results to state-of-the-art timed-game automata (TGA) based approaches. We observe that using an MPNN for tree search guidance leads to a significant increase in solving performance and scalability to harder DTNU problems.

Kevin Osanlou, Christophe Guettier, Andrei Bursuc et al.

Learning-based methods are increasingly popular for search algorithms in single-criterion optimization problems. In contrast, for multiple-criteria optimization there are significantly fewer approaches despite the existence of numerous applications. Constrained path-planning for Autonomous Ground Vehicles (AGV) is one such application, where an AGV is typically deployed in disaster relief or search and rescue applications in off-road environments. The agent can be faced with the following dilemma : optimize a source-destination path according to a known criterion and an uncertain criterion under operational constraints. The known criterion is associated to the cost of the path, representing the distance. The uncertain criterion represents the feasibility of driving through the path without requiring human intervention. It depends on various external parameters such as the physics of the vehicle, the state of the explored terrains or weather conditions. In this work, we leverage knowledge acquired through offline simulations by training a neural network model to predict the uncertain criterion. We integrate this model inside a path-planner which can solve problems online. Finally, we conduct experiments on realistic AGV scenarios which illustrate that the proposed framework requires human intervention less frequently, trading for a limited increase in the path distance.

Kevin Osanlou, Andrei Bursuc, Christophe Guettier et al.

Deep learning-based methods are growing prominence for planning purposes. In this paper, we present a hybrid planner that combines a graph machine learning model and an optimal solver based on branch and bound tree search for path-planning tasks. More specifically, a graph neural network is used to assist the branch and bound algorithm in handling constraints associated with a desired solution path. There are multiple downstream practical applications, such as Autonomous Unmanned Ground Vehicles (AUGV), typically deployed in disaster relief or search and rescue operations. In off-road environments, AUGVs must dynamically optimize a source-destination path under various operational constraints, out of which several are difficult to predict in advance and need to be addressed online. We conduct experiments on realistic scenarios and show that graph neural network support enables substantial speedup and smoother scaling to harder path-planning problems. Additionally, information provided by the graph neural network enables the approach to outperform problem-specific handcrafted heuristics, highlighting the potential graph neural networks hold for path-planning tasks.

Kevin Osanlou, Christophe Guettier, Andrei Bursuc et al.

Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of the time, the problem consists in finding a path from a source to a destination, while satisfying some operational constraints. In a graph without negative cycles, the computation of the single-pair shortest path from a start node to an end node is solved in polynomial time. Additional constraints on the solution path can however make the problem harder to solve. This becomes the case when we need the path to pass through a few mandatory nodes without requiring a specific order of visit. The complexity grows exponentially with the number of mandatory nodes to visit. In this paper, we focus on shortest path search with mandatory nodes on a given connected graph. We propose a hybrid model that combines a constraint-based solver and a graph convolutional neural network to improve search performance. Promising results are obtained on realistic scenarios.