Related papers: Handling PDDL3.0 State Trajectory Constraints with…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
Real world applications as in industry and robotics need modelling rich and diverse automated planning problems. Their resolution usually requires coordinated and concurrent action execution. In several cases, these problems are naturally…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…
Translating natural language instructions into executable motion plans is a fundamental challenge in robotics. Traditional approaches are typically constrained by their reliance on domain-specific expertise to customize planners, and often…
Large Language Models (LLMs) have recently demonstrated impressive capabilities across various real-world applications. However, due to the current text-in-text-out paradigm, it remains challenging for LLMs to handle dynamic and complex…
Generating realistic human mobility data is essential for various application domains, including transportation, urban planning, and epidemic control, as real data is often inaccessible to researchers due to high costs and privacy concerns.…
Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…
Urban transportation systems encounter diverse challenges across multiple tasks, such as traffic forecasting, electric vehicle (EV) charging demand prediction, and taxi dispatch. Existing approaches suffer from two key limitations:…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Rapid development of large language models (LLMs) has significantly advanced multimodal large language models (LMMs), particularly in vision-language tasks. However, existing video-language models often overlook precise temporal…
Temporal reasoning over tabular data presents substantial challenges for large language models (LLMs), as evidenced by recent research. In this study, we conduct a comprehensive analysis of temporal datasets to pinpoint the specific…
Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…
Using large language models (LLMs) to solve complex robotics problems requires understanding their planning capabilities. Yet while we know that LLMs can plan on some problems, the extent to which these planning capabilities cover the space…
PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream problems can be reduced to a sequence…
This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and…
Travel planning is a complex task that involves generating a sequence of actions related to visiting places subject to constraints and maximizing some user satisfaction criteria. Traditional approaches rely on problem formulation in a given…
We present some techniques for planning in domains specified with the recent standard language PDDL2.1, supporting 'durative actions' and numerical quantities. These techniques are implemented in LPG, a domain-independent planner that took…