Related papers: Conformant Planning via Symbolic Model Checking
In automated planning, control parameters extend standard action representations through the introduction of continuous numeric decision variables. Existing state-of-the-art approaches have primarily handled control parameters as embedded…
The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration…
Solving complex planning problems requires Large Language Models (LLMs) to explicitly model the state transition to avoid rule violations, comply with constraints, and ensure optimality-a task hindered by the inherent ambiguity of natural…
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Temporal Logic over finite traces ($\ltlf$) specification…
Planning remains a core challenge for large language models (LLMs), particularly in domains that require coherent multi-step action sequences grounded in external constraints. We introduce SymPlanner, a novel framework that equips LLMs with…
In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…
We formalize a simple but natural subclass of service domains for relational planning problems with object-centered, independent exogenous events and additive rewards capturing, for example, problems in inventory control. Focusing on this…
Conformant planning is the problem of finding a sequence of actions for achieving a goal in the presence of uncertainty in the initial state or action effects. The problem has been approached as a path-finding problem in belief space where…
We consider the problem of controlling a fully specified Markov decision process (MDP), also known as the planning problem, when the state space is very large and calculating the optimal policy is intractable. Instead, we pursue the more…
A major difficulty of solving continuous POMDPs is to infer the multi-modal distribution of the unobserved true states and to make the planning algorithm dependent on the perceived uncertainty. We cast POMDP filtering and planning problems…
The enormous number of states reachable during explicit model checking is the main bottleneck for scalability. This paper presents approaches of using decision diagrams to represent very large state space compactly and efficiently. This is…
Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…
In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of…
This paper presents a novel semantics-aware inspection path planning paradigm called "Semantics-aware Predictive Planning" (SPP). Industrial environments that require the inspection of specific objects or structures (called "semantics"),…
Automated planning using a symbolic planning language, such as PDDL, is a general approach to producing optimal plans to achieve a stated goal. However, creating suitable machine understandable descriptions of the planning domain, problem,…
Bridging continuous perceptual signals and discrete symbolic reasoning is a fundamental challenge in AI systems that must operate under uncertainty. We present a neuro-symbolic framework that explicitly models and propagates uncertainty…
Traditional Task and Motion Planning (TAMP) systems depend on physics models for motion planning and discrete symbolic models for task planning. Although physics model are often available, symbolic models (consisting of symbolic state…
This paper addresses the problem of planning under uncertainty in large Markov Decision Processes (MDPs). Factored MDPs represent a complex state space using state variables and the transition model using a dynamic Bayesian network. This…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…