Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
Baichuan Huang,Abdeslam Boularias,Jingjin Yu,Baichuan Huang,Abdeslam Boularias,Jingjin Yu
We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for solving episodic decision-making problems whose underlying search spaces are expansive. Leveraging a GPU-based large-scale simulator, PMBS introduces massive parall...
