Related papers: Behavior Trees as a Representation for Medical Pro…
Recently, decision trees (DT) have been used as an explainable representation of controllers (a.k.a. strategies, policies, schedulers). Although they are often very efficient and produce small and understandable controllers for discrete…
Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts, however, their behavior is…
Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…
In some entertainment and virtual reality applications, it is necessary to model and draw the real world realistically, so as to improve the fidelity of natural scenes and make users have a better sense of immersion. However, due to the…
One of the most appreciated features of Fault Trees (FTs) is their simplicity, making them fit into industrial processes. As such processes evolve in time, considering new aspects of large modern systems, modelling techniques based on FTs…
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy…
With consideration to behavior trees and their relevance to planning and control, within and without game development, the distinction between stateful and stateless models is discussed; a three-valued logic bridging traditional control…
Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts; however, their behavior is…
A contextual care protocol is used by a medical practitioner for patient healthcare, given the context or situation that the specified patient is in. This paper proposes a method to build an automated self-adapting protocol which can help…
The paper introduces a novel behavioural translation style space (BTSS) that describes possible behavioural translation patterns. The suggested BTSS is organized as a hierarchical structure that entails various embedded processing layers.…
Modern natural language models such as the GPT-2/GPT-3 contain tremendous amounts of information about human belief in a consistently testable form. If these models could be shown to accurately reflect the underlying beliefs of the human…
Human-centred systems require an understanding of human actions in the physical world. Temporally extended sequences of actions are intentional and structured, yet existing methods for recognising what actions are performed often do not…
In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machine learning, without destroying those performance guarantees.…
Based on decision trees, many fields have arguably made tremendous progress in recent years. In simple words, decision trees use the strategy of "divide-and-conquer" to divide the complex problem on the dependency between input features and…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verification techniques are essential.…
We propose to compose dynamic tree structures that place the objects in an image into a visual context, helping visual reasoning tasks such as scene graph generation and visual Q&A. Our visual context tree model, dubbed VCTree, has two key…
While large-scale sequence modeling from offline data has led to impressive performance gains in natural language and image generation, directly translating such ideas to robotics has been challenging. One critical reason for this is that…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…
We propose an approach for learning optimal tree-based prescription policies directly from data, combining methods for counterfactual estimation from the causal inference literature with recent advances in training globally-optimal decision…