Publications
Thesis
Edited Proceedings and Special Issues
- Special Issue on Agile Robotics for Industrial Applications
Craig I. Schlenoff, Zeid Kootbally, and Erez Karpas
Robotics and Computer-Integrated Manufacturing, Volume 71, October 2021
- Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, Nancy, France, October 26-30, 2020
J. Christopher Beck, Olivier Buffet, Jörg Hoffmann, Erez Karpas, Shirin Sohrabi
In Journals
- Towards an Autonomous Clinical Decision Support System
Sapir Gershov, Aeyal Raz, Erez Karpas, Shlomi Laufer
Engineering Applications of Artificial Intelligence 127 (2024) 107215
- A Conflict-driven Interface between Symbolic Planning
and Nonlinear Constraint Solving
Joaquim Ortiz de Haro, Erez Karpas, Marc Toussaint, and Michael Katz
RA-L 2022
Also presented at IROS 2022
- Time Optimal Control of a Non-Linear Surface Vehicle Subject to Disturbances
Ayal Taitler, Ilya Ioslovich, Erez Karpas, and Per-Olof Gutman
IFAC Journal of Systems and Control (2022)
- Minimum Mixed Time-Energy Trajectory Planning of a Nonlinear Vehicle Subject to 2D Disturbances
Ayal Taitler, Ilya Ioslovich, Erez Karpas, and Per-Olof Gutman
Journal of Optimization Theory and Applications (2022), Vol. 192, pages 725–757
- Automated Planning and Robotics
Erez Karpas and Daniele Magazzeni
Annual Review of Control, Robotics and Autonomous Systems (2020), Vol.3:417-439
- Goal Recognition Design in Deterministic Environments
Sarah Keren, Avigdor Gal, and Erez Karpas
Journal of Artificial Intelligence Research, Volume 65, pages 209-269, 2019
- Combined Time and Energy Optimal Trajectory Planning With Quadratic Drag For Mixed Discrete-Continuous Task Planning
Ayal Taitler, Ilya Ioslovich, Per-Olof Gutman, and Erez Karpas
Optimization, 68:1, 125-143, 2019
- ScottyActivity: Mixed Discrete-Continuous Planning with Convex Optimization
Enrique Fernandez-Gonzalez, Brian Williams, and Erez Karpas
Journal of Artificial Intelligence Research, Volume 62, pages 579-644, 2018
- Rational Deployment of Multiple Heuristics in Optimal State-space Search
Erez Karpas, Oded Bezalel, Solomon Eyal Shimony, David Tolpin and Ariel Felner
Artificial Intelligence 256:181-210, 2018
- Online Speedup Learning for Optimal Planning
Carmel Domshlak, Erez Karpas, and Shaul Markovitch
Journal of Artificial Intelligence Research, Volume 44, pages 709-755, 2012
- Approximate Belief Updating in Max-2-connected Bayes Networks is NP-hard
Erez Karpas, Solomon Eyal Shimony, and Amos Beimel
Artificial Intelligence 173(12-13):1150-1153, 2009
In Conferences
- On Verifying and Generating Robust Plans for Planning Tasks with Non-deterministic Events
Lukas Chrpa and Erez Karpas
KR 2024
- Good Things Come to Those Who Wait: The Power of Sensing in Social Laws
Alexander Tuisov, Alexander Shleyfman, and Erez Karpas
ECAI 2024
- A Deterministic Search Approach for Solving Stochastic Drone Search and Rescue Planning Without Communications
Evgeny Mishlyakov, Mikhail Gruntov, Alexander Shleyfman and Erez Karpas
SoCS 2024
Slides
- Evaluating Distributional Predictions of Search Time: Put Up or Shut Up Games (Extended Abstract)
Sean Mariasin, Andrew Coles, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony and Shahaf Shperberg
SoCS 2024
- Planning and Acting While the Clock Ticks
Andrew Coles, Erez Karpas, Andrey Lavrinenko, Wheeler Ruml, Solomon Eyal Shimony, and Shahaf Shperberg,
ICAPS 2024
Slides
- On Verifying Linear Execution Strategies in Planning Against Nature
Lukas Chrpa and Erez Karpas
ICAPS 2024
- Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning
Marc Toussaint, Joaquim Ortiz de Haro, Valentin Noah Hartmann, Erez Karpas, and Wolfgang Hoenig
ICRA 2024
Slides
- Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model
Matan Sudry, Tom Jurgenson, Aviv Tamar, and Erez Karpas
CORL 2023
- Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Erez Karpas, and Marc Toussaint
ICRA 2023
- Understanding Natural Language in Context
Avichai Levy and Erez Karpas
ICAPS 2023
- Automated Verification of Social Laws in Numeric Settings
Ronen Nir, Alexander Shleyfman, and Erez Karpas
AAAI 2023
- A Formal Metareasoning Model of Concurrent Planning and Execution
Amihay Elboher, Ava Bensoussan, Erez Karpas, Wheeler Ruml, Shahaf Shperberg, and Solomon Eyal Shimony
AAAI 2023
- Differential Game to Evaluate the Worst Case Influence of a Varying Disturbance on the Minimal Time Solution for a Small Vehicle Movement
Ilya Ioslovich, Guy Rotem, Per-Olof. Gutman, and Erez Karpas
The 26th International Conference on Methods and Models in Automation and Robotics (MMAR 2022)
- When to Commit to an Action in Online Planning and Search
Tianyi Gu, Wheeler Ruml, Shahaf Shperberg, Solomon Eyal Shimony and Erez Karpas
SoCS 2022
- A Compilation Based Approach to Finding Centroids and Minimum Covering States in Planning
Erez Karpas
ICAPS 2022
Recorded Talk Slides
- Learning To Estimate Search Progress Using Sequence Of States
Matan Sudry and Erez Karpas
ICAPS 2022
- Conflict-Directed Diverse Planning for Logic-Geometric Programming
Joaquim Ortiz de Haro, Erez Karpas, Marc Toussaint, and Michael Katz
ICAPS 2022
- Time Optimal Control for a Non-Linear Planar Vehicle Subject to Disturbances
Ayal Taitler, Ilya Ioslovich, Erez Karpas, and Per-Olof Gutman
2021 Modeling, Estimation, and Control Conference (MECC 2021)
- Time-Energy Optimal Control of a Non-Linear Surface Vehicle Subject to Disturbances
Ayal Taitler, Ilya Ioslovich, Erez Karpas, and Per-Olof Gutman
Third IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON 2021)
- Learning-based Synthesis of Social Laws in STRIPS
Ronen Nir, Alexander Shleyfman, and Erez Karpas
SoCS 2021
Also in ICAPS Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP 2021)
- Situated Temporal Planning Using Deadline-aware Metareasoning
Shahaf S. Shperberg, Andrew Coles, Bence Cserna, Erez Karpas, Wheeler Ruml, and Solomon Eyal Shimony
ICAPS 2021
- Automatic Generation of Flexible Plans via Diverse Temporal Planning
Yotam Amitai, Ayal Taitler, and Erez Karpas
AAAI 2021
- Trading Plan Cost for Timeliness in Situated Temporal Planning
Shahaf S. Shperberg, Andrew Coles, Erez Karpas, Solomon Eyal Shimony, and Wheeler Ruml
IJCAI 2020
- Goal Recognition Design – Survey
Sarah Keren, Avigdor Gal, and Erez Karpas
IJCAI 2020 Survey Track
- Automated Verification of Social Laws Robustness for Reactive Agents
Alexander Tuisov and Erez Karpas
ECAI 2020
- Accounting for Partial Observability in Stochastic Goal Recognition Design
Christabel Wayllace, Sarah Keren, William Yeoh, Avigdor Gal, and Erez Karpas
ECAI 2020
- Automated Synthesis of Social Laws in STRIPS
Ronen Nir, Alexander Shleyfman, and Erez Karpas
AAAI 2020
- Let’s Learn their Language? A Case for Planning with Automata-Network Languages from Model Checking
Joerg Hoffmann, Holger Hermanns, Michaela Klauck, Marcel Steinmetz, Erez Karpas and Daniele Magazzeni
AAAI 2020 (Senior Member Track)
- Minimum Time Optimal Control of Second Order System With Quadratic Drag and State Constraints
Ayal Taitler, Ilya Ioslovich, Erez Karpas, and Per-Olof Gutman
CDC 2019 (erratum)
- Replanning for Situated Robots
Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml
ICAPS 2019
- Efficient Heuristic Search for Optimal Environment Redesign
Sarah Keren, Luis Pineda, Avigdor Gal, Erez Karpas, and Shlomo Zilberstein
ICAPS 2019
- Automated Verification of Social Laws for Continuous Time Multi-Robot Systems
Ronen Nir and Erez Karpas
AAAI 2019
- Allocating Planning Effort when Actions Expire
Shahaf S. Shperberg, Andrew Coles, Bence Cserna, Erez Karpas, Wheeler Ruml, and Solomon Eyal Shimony
AAAI 2019
- Traffic Light Scheduling, Value of Time, and Incentives
Argyrios Deligkas, Erez Karpas, Ron Lavi, and Rann Smorodinsky
IJCAI 2018
- Temporal Planning While the Clock Ticks
Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml
ICAPS 2018
- Strong Stubborn Sets for Efficient Goal Recognition Design
Sarah Keren, Avigdor Gal, and Erez Karpas
ICAPS 2018
- Value Driven Landmarks for Oversubscription Planning
Daniel Muller and Erez Karpas
ICAPS 2018
- Semi-Black Box: Rapid Development of Planning Based Solutions
Michael Katz, Dany Moshkovich and Erez Karpas
AAAI 2018
- Equi-Reward Utility Maximizing Design in Stochastic Environments
Sarah Keren, Luis Pineda, Avigdor Gal, Erez Karpas, and Shlomo Zilberstein
IJCAI 2017
- Automated Verification of Social Law Robustness in STRIPS
Erez Karpas, Alexander Shleyfman, and Moshe Tennenholtz
ICAPS 2017
- Mixed Discrete-Continuous Heuristic Generative Planning with Convex Optimization
Enrique Fernandez, Erez Karpas, and Brian Williams
AAAI 2017
- Privacy Preserving Plans in Partially Observable Environments
Sarah Keren, Avigdor Gal, and Erez Karpas
IJCAI 2016
Slides
- Goal Recognition Design with Non-observable Actions
Sarah Keren, Avigdor Gal, and Erez Karpas
AAAI 2016
- Mixed Discrete-Continuous Heuristic Generative Planning based on Flow Tubes
Enrique Fernandez, Erez Karpas, and Brian Williams
IJCAI 2015
Extended version in ICAPS 2015 Workshop on Planning and Robotics (PlanRob 2015)
- Temporal Landmarks: What must Happen, and When
Erez Karpas , David Wang, Brian Williams, and Patrik Haslum
ICAPS 2015 (video)
- Robust Execution of Plans for Human-Robot Teams
Erez Karpas , Steven Levine, Peng Yu, and Brian Williams
ICAPS 2015
- Goal Recognition Design for Non-Optimal Agents
Sarah Keren, Avigdor Gal, and Erez Karpas
AAAI 2015
- Goal Recognition Design
Sarah Keren, Avigdor Gal, and Erez Karpas
ICAPS 2014
Honorable Mention for the Outstanding Paper Award
- Partially Observable Online Contingent Planning Using Landmark Heuristics
Shlomi Maliah, Ronen Brafman, Erez Karpas, and Guy Shani
ICAPS 2014 (video)
- Data-Parallel Computing Meets STRIPS
Erez Karpas, Tomer Sagi, Carmel Domshlak, Avigdor Gal, Avi Mendelson, and Moshe Tennenholtz
AAAI 2013
Slides Poster
- Toward Rational Deployment of Multiple Heuristics in A*
David Tolpin, Tal Beja, Solomon Eyal Shimony, Ariel Felner, and Erez Karpas
IJCAI 2013
Also in ICAPS 2013 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP 2013)
Also in SoCS 2013
Slides
- Optimal Search with Inadmissible Heuristics
Erez Karpas and Carmel Domshlak
ICAPS 2012
Slides
- When Optimal is Just Not Good Enough: Learning Fast Informative Action Cost-Partitionings
Erez Karpas, Michael Katz, and Shaul Markovitch
ICAPS 2011
Slides
- To Max or not to Max: Online Learning for Speeding Up Optimal Planning
Carmel Domshlak, Erez Karpas, and Shaul Markovitch
AAAI 2010
Slides Poster
(Runner-up ex-aequo in sequential optimal track, IPC 2011)
- Cost-optimal Planning with Landmarks
Erez Karpas and Carmel Domshlak
IJCAI 2009
Slides (short version) (long version)
In Workshops and Symposia
- Situated Planning Enables Timely AutonomyS. Shperberg, A. Coles, S.E. Shimony, E. Karpas, W. Ruml and D. Thomas,
AAAI 2023 AI and Robotics Bridge Program
- Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model
M. Sudry, T. Jurgenson, A. Tamar, and E. Karpas
ICAPS 2023 Workshop on Bridging the Gap Between Planning and Reinforcement Learning (PRL 2023)
- Any-Start-Time Planning for SIPPD. Thomas}, S.E. Shimony, W. Ruml, E. Karpas, S. Shperberg, and A. Coles
ICAPS 2023 Workshop on Heuristic Search for Domain Independent Planning (HSDIP 2023)
- Robofriend: An Adpative Storytelling Robotic Teddy Bear
I. Glanz, M. Weksler, E. Karpas, and T. Horowitz-KrausICAPS 2023 Workshop on Planning and Robotics (PlanRob 2023)
- When to Commit to an Action in Online Planning
Tianyi Gu, Shahaf Shperberg, Wheeler Ruml, Solomon Eyal Shimony, and Erez Karpas
ICAPS Workshop on Workshop on Integrated Planning, Acting, and Execution (IntEx 2021)
- The Power of Waiting in Social Laws
Alexander Tuisov, Alexander Shleyfman, and Erez Karpas
ICAPS Workshop on Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2021)
- A Compilation Based Approach to Finding Centroids and Minimum Covering States in Planning
Erez Karpas
ICAPS Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP 2021)
slides code
- Learning to Estimate Search Progress Using Sequences of States
Matan Sudry and Erez Karpas
ICAPS Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP 2021)
- Learning-based Synthesis of Social Laws in STRIPS
Ronen Nir, Alexander Shleyfman, and Erez Karpas
ICAPS Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP 2021)
Also in SoCS 2021
- Generalized Planning With Deep Reinforcement Learning
Or Rivlin, Tamir Hazan, and Erez Karpas
ICAPS 2020 Workshop on Bridging the Gap Between Planning and Reinforcement Learning (PRL 2020)
- Automatic Generation of Flexible Plans via Diverse Temporal Planning
Yotam Amitai, Erez Karpas, Ayal Taitler, and Per-Olof Gutman
ICAPS 2020 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2020)
- Beyond Cost-to-go Estimates in Situated Temporal Planning
Andrew Coles, Shahaf Shperberg, Erez Karpas, Solomon Eyal Shimony, and Wheeler Ruml
ICAPS 2019 Workshop on Heuristics and Search for Domain-independent Planning
(HSDIP 2019)
- Minimum Time Validation for Hybrid Task Planning
Ayal Taitler, Ilya Ioslovich, Per-Olof Gutman, and Erez Karpas
ICAPS 2019 Workshop on Planning and Robotics (PlanRob 2019)
- Automated Verification of Social Laws Robustness for Reactive Agents
Alexander Tuisov and Erez Karpas
ICAPS 2019 Workshop on Integrated Planning, Acting, and Execution
(IntEx 2019)
- Accounting for Partial Observability in Stochastic Goal Recognition Design: Messing with the Marauder’s Map
Christabel Wayllace, Sarah Keren, William Yeoh, Avigdor Gal, and Erez Karpas
ICAPS 2018 Workshop on Heuristic Search in Domain-independent Planning (HSDIP 2018)
- Relaxed Modification Heuristics for Equi-Reward Utility Maximizing Design
Sarah Keren, Luis Pineda, Avigdor Gal, Erez Karpas, and Shlomo Zilberstein
ICAPS 2018 Workshop on Heuristic Search in Domain-independent Planning (HSDIP 2018)
- Situated Planning for Execution Under Temporal Constraints
Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml
Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy, AAAI Spring Symposium Series 2018
- Position Paper: Reasoning About Domains with PDDL
Alexander Shleyfman and Erez Karpas
Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy, AAAI Spring Symposium Series 2018
- Strong Stubborn Sets for Efficient Goal Recognition Design
Sarah Keren, Avigdor Gal, and Erez Karpas
AAAI 2018 Workshop on Plan, Activity and Intent Recognition (PAIR 2018)
- Equi-Reward Utility Maximizing Design in Stochastic Environments
Sarah Keren, Luis Pineda, Avigdor Gal, Erez Karpas, and Shlomo Zilberstein
ICAPS 2017 Workshop on Heuristic Search in Domain-independent Planning (HSDIP 2017)
- Redesigning stochastic environments for maximized utility
Sarah Keren, Luis Pineda, Avigdor Gal, Erez Karpas, and Shlomo Zilberstein
2017 Workshop on Plan, Activity, and Intent Recognition (PAIR 2017)
- Automated Verification of Social Law Robustness in STRIPS
Erez Karpas, Alexander Shleyfman, and Moshe Tennenholtz
ICAPS 2016 Workshop on Distributed and Multi Agent Planning (DMAP 2016)
Slides
- Lifting Delete Relaxation Heuristics To Successor Generator Planning
Michael Katz, Dany Moshkovich, and Erez Karpas
ICAPS 2016 Workshop on Heuristic Search in Domain-independent Planning (HSDIP 2016)
Slides
- Planning Competition for Logistics Robots in Simulation
Tim Niemueller, Erez Karpas, Tiago Vaquero, and Eric Timmons
ICAPS 2016 Workshop on Planning and Robotics (PlanRob 2016)
- Goal Recognition Design with Non-observable Actions
Sarah Keren, Avigdor Gal, and Erez Karpas
ICAPS 2015 Workshop on Heuristic Search in Domain-independent Planning (HSDIP 2015)
Also in AAAI 2016
- Mixed Discrete-Continuous Heuristic Generative Planning based on Flow Tubes (Extended Version)
Enrique Fernandez, Erez Karpas, and Brian Williams
ICAPS 2015 Workshop on Planning and Robotics (PlanRob 2015)
Also in IJCAI 2015
- Optimal Planning and Shortcut Learning: An Unfulfilled Promise
Erez Karpas and Carmel Domshlak
ICAPS 2013 Workshop on Planning and Learning (PAL)
Slides
- Heuristics for Planning under Partial Observability with Sensing Actions
Guy Shani, Ronen Brafman, Shlomi Maliah, and Erez Karpas
ICAPS 2013 Workshop on Heuristics and Search for Domain Independent Planning (HSDIP)
Slides
- Deeply Preferred Operators: Lazy Search Meets Lookahead
Roei Bahumi, Carmel Domshlak and Erez Karpas
ICAPS 2012 Workshop on Heuristics and Search for Domain Independent Planning (HSDIP)
Slides
- Living on the Edge: Safe Search with Unsafe Heuristics
Erez Karpas and Carmel Domshlak
ICAPS 2011 Workshop on Heuristics for Domain Independent Planning (HDIP)
Slides
- Command and Control Training Centers: Computer Generated Forces Meet Classical Planning
Carmel Domshlak, Ziv Even-Zur, Yannai Golany, Erez Karpas and Yevgeni Nus
ICAPS 2011 Workshop on Scheduling and Planning Applications (SPARK)
Slides (warning: 80+ MB)
- FD-Autotune: Domain-Specific Configuration using Fast Downward
Chris Fawcett, Malte Helmert, Holger Hoos, Erez Karpas, Gabriele Roeger, Jendrik Seipp
ICAPS 2011 Workshop on Learning and Planning (PAL)
(Runner-up in learning track, IPC 2011)
- Fast Downward Stone Soup: A Baseline for Building Planner Portfolios
Malte Helmert, Gabriele Roeger, Erez Karpas
ICAPS 2011 Workshop on Learning and Planning (PAL)
(Winner in sequential optimal track and runner-up in sequential satisficing track, IPC 2011)
- Learning to Combine Admissible Heuristics Under Bounded Time
Carmel Domshlak, Erez Karpas, and Shaul Markovitch
ICAPS 2009 Workshop on Planning and Learning
Slides Poster
Tutorials
- Cognitive Robotics in Industrial Settings Competition
William Harrison III, Erez Karpas, Zeid Kootbally, Tim Niemueller, Craig Schlenoff , Eric Timmons, and Tiago Vaquero
AAAI 2018
- Planning Competition for Logistics Robots in Simulation
Tim Niemueller, Erez Karpas, Tiago Vaquero, and Eric Timmons
ICAPS 2016
- Risk-bounded Scheduling and Path Planning
Brian Williams and Erez Karpas
ICAPS 2015 (video)
- Landmarks – Definitions, Discovery, Methods and Uses
Erez Karpas and Silvia Richter
ICAPS 2010 (video)
System Demos
- Reactive Model-based Programming of Micro-UAVs
Eric Timmons, Cheng Fang, Enrique Fernandez, Erez Karpas, Steven J. Levine, Pedro Santana, Andrew Wang, David Wang, Peng Yu, and Brian C. Williams
ICAPS 2015 System Demos
- Intent Recognition and Temporal Relaxation in Human Robot Assembly
Sean Burke, Enrique Fernandez, Luis Figueredo, Andreas Hofmann, Christopher Hofmann, Erez Karpas, Steve Levine, Pedro Santana, Peng Yu, and Brian Williams
ICAPS 2014 System Demos
People’s Choice Honorable Mention
- Command and Control Training Centers: Computer Generated Forces Meet Classical Planning
Carmel Domshlak, Ziv Even-Zur, Yannai Golany, and Erez Karpas
ICAPS 2011 System Demos
Software
