Shahaf S. Shperberg Ben-Gurion University of the Negev
Peer-reviewed work

Publications

Journal articles, conference papers, and preprints, newest first. Extended abstracts are listed only where no full version exists.

Google Scholar DBLP Lab code on GitHub
Refereed journal papers

Journal articles

  1. 2026

    Is DIBBS a DXBB algorithm?

    Nathan R. Sturtevant, Shahaf S. Shperberg, Ariel Felner

    AIJ 2026Paper ↗
  2. 2026

    Integration of a Learning Framework for Software Engineering Education

    Mira Balaban, Shahaf S. Shperberg, Arnon Sturm

    ACM TOCE 2026To appear
  3. 2025
  4. 2024

    A collective AI via lifelong learning and sharing at the edge

    Andrea Soltoggio, Eseoghene Ben-Iwhiwhu, Vladimir Braverman, Eric Eaton, Benjamin Epstein, Yunhao Ge, Lucy Halperin, Jonathan P. How, Laurent Itti, Michael A. Jacobs, Pavan Kantharaju, Long Le, Steven Lee, Xinran Liu, Sildomar T. Monteiro, David Musliner, Saptarshi Nath, Priyadarshini Panda, Christos Peridis, Hamed Pirsiavash, Vishwa S. Parekh, Kaushik Roy, Shahaf S. Shperberg, Hava T. Siegelmann, Peter Stone, Kyle Vedder, Jingfeng Wu, Lin Yang, Guangyao Zheng, Soheil Kolouri

    Nature Machine Intelligence 2024Paper ↗
  5. 2024

    Adaptive Curriculum Learning With Successor Features for Imbalanced Compositional Reward Functions

    Laszlo Szoke, Shahaf S. Shperberg, Jarrett Holtz, Alessandro Allievi

    IEEE RA-L 2024Paper ↗
  6. 2023

    Conflict-tolerant and conflict-free multi-agent meeting

    Dor Atzmon, Ariel Felner, Jiaoyang Li, Shahaf S. Shperberg, Nathan R. Sturtevant, Sven Koenig

    AIJ 2023Paper ↗
  7. 2017

    Some Properties of Batch Value of Information in the Selection Problem

    Shahaf S. Shperberg, Solomon Eyal Shimony

    JAIR 2017Paper ↗
Refereed papers at AI conferences

Conference papers

  1. 2026

    Bidirectional Bounded-Suboptimal Heuristic Search with Consistent Heuristics

    Shahaf S. Shperberg, Natalie Morad, Lior Siag, Ariel Felner, Dor Atzmon

    AAAI 2026Paper ↗Code ↗
  2. 2026
  3. 2026

    Online Learning of Numeric Action Models for Planning

    Argaman Mordoch, Yarin Benyamin, Shahaf S. Shperberg, Brendan Juba, Roni Stern

    AAMAS 2026Code ↗
  4. 2025

    Concurrent Planning and Execution Using Dispatch-Dependent Values

    Andrew Coles, Erez Karpas, Solomon Eyal Shimony, Shahaf S. Shperberg, Wheeler Ruml

    IJCAI 2025Paper ↗
  5. 2025

    Anchor Search: A Unified Framework for Suboptimal Bidirectional Search

    Sepehr Lavasani, Lior Siag, Shahaf S. Shperberg, Ariel Felner, Nathan R. Sturtevant

    AAAI 2025Paper ↗
  6. 2025

    Bidirectional Heuristic Search in Longest Path Problems

    Tzur Shubi, Solomon Eyal Shimony, Ariel Felner, Shahaf S. Shperberg

    ECAI 2025Paper ↗
  7. 2025

    Heuristics for Bounded-Suboptimal Search

    Lior Siag, Ariel Felner, Shahaf S. Shperberg

    SoCS 2025Paper ↗Code ↗
  8. 2025

    Minimizing Fuel in Multi-Agent Pathfinding

    Daniel Koyfman, Dor Atzmon, Shahaf S. Shperberg, Ariel Felner

    SoCS 2025Paper ↗
  9. 2025

    Position Paper: On the Impact of Direction-Selection in BAE*

    Shahaf S. Shperberg, Lior Siag, Nathan R. Sturtevant, Ariel Felner

    SoCS 2025Paper ↗Code ↗
  10. 2024

    Theoretical Study on Multi-objective Heuristic Search

    Shawn Skyler, Shahaf S. Shperberg, Dor Atzmon, Ariel Felner, Oren Salzman, Shao-Hung Chan, Han Zhang, Sven Koenig, William Yeoh, Carlos Hernández Ulloa

    IJCAI 2024Paper ↗
  11. 2024

    Planning and Acting While the Clock Ticks

    Andrew Coles, Erez Karpas, Andrey Lavrinenko, Wheeler Ruml, Solomon Eyal Shimony, Shahaf S. Shperberg

    ICAPS 2024Paper ↗
  12. 2024

    On Parallel External-Memory Bidirectional Search

    Lior Siag, Shahaf S. Shperberg, Ariel Felner, Nathan R. Sturtevant

    ECAI 2024Paper ↗Code ↗
  13. 2024

    Relaxed Exploration Constrained Reinforcement Learning

    Shahaf S. Shperberg, Bo Liu, Peter Stone

    AAMAS 2024Paper ↗
  14. 2024

    Minimizing State Exploration While Searching Graphs with Unknown Obstacles

    Daniel Koyfman, Shahaf S. Shperberg, Dor Atzmon, Ariel Felner

    AAMAS 2024Paper ↗
  15. 2024

    On the Properties of All-Pair Heuristics

    Shahaf S. Shperberg, Ariel Felner, Lior Siag, Nathan R. Sturtevant

    SoCS 2024Paper ↗
  16. 2024

    Crafting a Pogo Stick in Minecraft with Heuristic Search

    Yarin Benyamin, Argaman Mordoch, Shahaf S. Shperberg, Wiktor Piotrowski, Roni Stern

    SoCS 2024Extended abstractPaper ↗
  17. 2024

    Evaluating Distributional Predictions of Search Time: Put Up or Shut Up Games

    Sean Mariasin, Andrew Coles, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony, Shahaf S. Shperberg

    SoCS 2024Extended abstractPaper ↗
  18. 2023

    A Formal Metareasoning Model of Concurrent Planning and Execution

    Amihay Elboher, Ava Bensoussan, Erez Karpas, Wheeler Ruml, Shahaf S. Shperberg, Solomon Eyal Shimony

    AAAI 2023Paper ↗
  19. 2023
  20. 2023

    W-restrained Bidirectional Bounded-Suboptimal Heuristic Search

    Dor Atzmon, Shahaf S. Shperberg, Netanel Sabah, Ariel Felner, Nathan R. Sturtevant

    ICAPS 2023Paper ↗
  21. 2023

    Model-Based Meta Automatic Curriculum Learning

    Zifan Xu, Yulin Zhang, Shahaf S. Shperberg, Reuth Mirsky, Yuqian Jiang, Bo Liu, Peter Stone

    CoLLAs 2023Paper ↗
  22. 2023

    Comparing Front-to-Front and Front-to-End Heuristics in Bidirectional Search

    Lior Siag, Shahaf S. Shperberg, Ariel Felner, Nathan R. Sturtevant

    SoCS 2023Paper ↗
  23. 2022

    A Rule-based Shield: Accumulating Safety Rules from Catastrophic Action Effects

    Shahaf S. Shperberg, Bo Liu, Alessandro Allievi, Peter Stone

    CoLLAs 2022Paper ↗
  24. 2022

    When to Commit to an Action in Online Planning and Search

    Tianyi Gu, Wheeler Ruml, Shahaf S. Shperberg, Solomon Eyal Shimony, Erez Karpas

    SoCS 2022Paper ↗
  25. 2021

    Situated Temporal Planning Using Deadline-aware Metareasoning

    Shahaf S. Shperberg, Andrew Coles, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony

    ICAPS 2021Paper ↗
  26. 2021

    Iterative-deepening Bidirectional Heuristic Search with Restricted Memory

    Shahaf S. Shperberg, Steven Danishevski, Ariel Felner, Nathan R. Sturtevant

    ICAPS 2021Paper ↗
  27. 2021

    The Closed List is an Obstacle Too

    Ariel Felner, Shahaf S. Shperberg, Hadar Buzhish

    SoCS 2021Paper ↗
  28. 2021

    Metareasoning for Interleaved Planning and Execution

    Amihay Elboher, Shahaf S. Shperberg, Solomon Eyal Shimony

    SoCS 2021Paper ↗
  29. 2021

    Meta-level Techniques for Planning, Search, and Scheduling

    Shahaf S. Shperberg

    SoCS 2021Doctoral consortiumPaper ↗
  30. 2020

    Bidirectional Heuristic Search: Expanding Nodes by a Lower Bound

    Shahaf S. Shperberg, Ariel Felner, Nathan R. Sturtevant, Solomon Eyal Shimony, Avi Hayoun

    IJCAI 2020Paper ↗
  31. 2020

    Trading Plan Cost for Timeliness in Situated Temporal Planning

    Shahaf S. Shperberg, Andrew Coles, Erez Karpas, Solomon Eyal Shimony, Wheeler Ruml

    IJCAI 2020Paper ↗
  32. 2020

    Multi-Directional Heuristic Search

    Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf S. Shperberg, Nathan R. Sturtevant, Sven Koenig

    IJCAI 2020Paper ↗
  33. 2020

    Predicting the Effectiveness of Bidirectional Heuristic Search

    Nathan R. Sturtevant, Shahaf S. Shperberg, Ariel Felner, Jingwei Chen

    ICAPS 2020Paper ↗
  34. 2020

    Multi-Directional Search

    Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf S. Shperberg, Nathan R. Sturtevant, Sven Koenig

    SoCS 2020Paper ↗
  35. 2020

    On the Differences and Similarities of fMM and GBFHS

    Shahaf S. Shperberg, Ariel Felner

    SoCS 2020Paper ↗
  36. 2019

    Allocating Planning Effort When Actions Expire

    Shahaf S. Shperberg, Andrew Coles, Bence Cserna, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony

    AAAI 2019Paper ↗
  37. 2019

    Enriching Non-Parametric Bidirectional Search Algorithms

    Shahaf S. Shperberg, Ariel Felner, Nathan R. Sturtevant, Solomon Eyal Shimony, Avi Hayoun

    AAAI 2019Paper ↗
  38. 2019

    Algorithm Selection in Optimization and Application to Angry Birds

    Shahaf S. Shperberg, Solomon Eyal Shimony, Avinoam Yehezkel

    ICAPS 2019Paper ↗
  39. 2019

    Improving Bidirectional Heuristic Search by Bounds Propagation

    Shahaf S. Shperberg, Ariel Felner, Solomon Eyal Shimony, Nathan R. Sturtevant, Avi Hayoun

    SoCS 2019Best Paper AwardPaper ↗
  40. 2017

    Monte-Carlo Tree Search using Batch Value of Perfect Information

    Shahaf S. Shperberg, Solomon Eyal Shimony, Ariel Felner

    UAI 2017Paper ↗
Manuscripts available on arXiv

Preprints

  1. 2026

    Bidirectional Search for Longest Paths: Case for Front-to-Front Heuristics

    Tzur Shubi, Ariel Felner, Solomon Eyal Shimony, Shahaf S. Shperberg

    arXiv 2026Paper ↗
  2. 2026

    RAMP: Hybrid DRL for Online Learning of Numeric Action Models

    Yarin Benyamin, Argaman Mordoch, Shahaf S. Shperberg, Roni Stern

    arXiv 2026Paper ↗
  3. 2026
  4. 2025

    Toward PDDL Planning Copilot

    Yarin Benyamin, Argaman Mordoch, Shahaf S. Shperberg, Roni Stern

    arXiv 2025Paper ↗Code ↗
  5. 2025

    Integrating Reinforcement Learning, Action Model Learning, and Numeric Planning for Tackling Complex Tasks

    Yarin Benyamin, Argaman Mordoch, Shahaf S. Shperberg, Roni Stern

    arXiv 2025Paper ↗
  6. 2024

    Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach

    Yoonchang Sung, Shahaf S. Shperberg, Qi Wang, Peter Stone

    arXiv 2024Paper ↗
  7. 2023

    Learning Safe Numeric Planning Action Models

    Argaman Mordoch, Shahaf S. Shperberg, Roni Stern, Brendan Juba

    arXiv 2023Paper ↗Code ↗
  8. 2022