Related papers: Toward a language-theoretic foundation for plannin…
When humans perform everyday tasks, we naturally adjust our actions based on the current state of the environment. For instance, if we intend to put something into a drawer but notice it is closed, we open it first. However, many autonomous…
We treat here the interrelation between formal languages and those dynamical systems that can be described by cellular automata (CA). There is a well-known injective map which identifies any CA-invariant subshift with a central formal…
This paper presents a hybrid robot cognitive architecture, CRAM, that enables robot agents to accomplish everyday manipulation tasks. It addresses five key challenges that arise when carrying out everyday activities. These include (i) the…
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Search-optimization problems are plentiful in scientific and engineering domains. Artificial intelligence has long contributed to the development of search algorithms and declarative programming languages geared towards solving and modeling…
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange…
Recent advancements in Large Language Models have sparked interest in their potential for robotic task planning. While these models demonstrate strong generative capabilities, their effectiveness in producing structured and executable plans…
We present strategic portgraph rewriting as a basis for the implementation of visual modelling and analysis tools. The goal is to facilitate the specification, analysis and simulation of complex systems, using port graphs. A system is…
This short review aims to make the reader familiar with state-of-the-art works relating to planning, scheduling and learning. First, we study state-of-the-art planning algorithms. We give a brief introduction of neural networks. Then we…
In this thesis we use quasiorders on words to offer a new perspective on two well-studied problems from Formal Language Theory: deciding language inclusion and manipulating the finite automata representations of regular languages. First, we…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…
Within one decade, Deep Learning overtook the dominating solution methods of countless problems of artificial intelligence. ``Deep'' refers to the deep architectures with operations in manifolds of which there are no immediate observations.…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
Numerous formalisms and dedicated algorithms have been designed in the last decades to model and solve decision making problems. Some formalisms, such as constraint networks, can express "simple" decision problems, while others are designed…
In this paper we provide for parsing with respect to grammars expressed in a general TFS-based formalism, a restriction of ALE. Our motivation being the design of an abstract (WAM-like) machine for the formalism, we consider parsing as a…
We describe how orbital graphs can be used to improve the practical performance of many algorithms for permutation groups, including intersection and stabilizer problems. First we explain how orbital graphs can be integrated in partition…
Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…