Related papers: Funnel-based Reward Shaping for Signal Temporal Lo…

Model-free reinforcement learning (RL) is a powerful approach for learning control policies directly from high-dimensional state and observation. However, it tends to be data-inefficient, which is especially costly in robotic learning…

Continuous-time reinforcement learning (CTRL) provides a principled framework for sequential decision-making in environments where interactions evolve continuously over time. Despite its empirical success, the theoretical understanding of…

It is desirable for an agent to be able to solve a rich variety of problems that can be specified through language in the same environment. A popular approach towards obtaining such agents is to reuse skills learned in prior tasks to…

Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural language. Furthermore, STL specifications can be encoded as…

Large Language Models (LLMs) often struggle with problems that require multi-step reasoning. For small-scale open-source models, Reinforcement Learning with Verifiable Rewards (RLVR) fails when correct solutions are rarely sampled even…

Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…

Large Language Models (LLMs) increasingly rely on long-form, multi-step reasoning to solve complex tasks such as mathematical problem solving and scientific question answering. Despite strong performance, existing confidence estimation…

We propose a new specification language and control synthesis technique for single and multi-robot high-level tasks; these tasks include timing constraints and reaction to environmental events. Specifically, we define Event-based Signal…

In this paper, a method for learning a recurrent neural network (RNN) controller that maximizes the robustness of signal temporal logic (STL) specifications is presented. In contrast to previous methods, we consider synthesizing the RNN…

Reinforcement learning (RL) has shown promise as a tool for engineering safe, ethical, or legal behaviour in autonomous agents. Its use typically relies on assigning punishments to state-action pairs that constitute unsafe or unethical…

As multi-agent reinforcement learning (MARL) systems are increasingly deployed throughout society, it is imperative yet challenging for users to understand the emergent behaviors of MARL agents in complex environments. This work presents an…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

Current Large Language Models (LLMs) often undergo supervised fine-tuning (SFT) to acquire tool use capabilities. However, SFT struggles to generalize to unfamiliar or complex tool use scenarios. Recent advancements in reinforcement…

Signal Temporal Logic (STL) is widely used to specify timed and safety-critical tasks for cyber-physical systems, but writing STL formulas directly is difficult for non-expert users. Natural language (NL) provides a convenient interface,…

Reinforcement Learning (RL) is crucial for unlocking the complex reasoning capabilities of Diffusion-based Large Language Models (dLLMs). However, applying RL to dLLMs faces unique challenges in efficiency and stability. To address these…

Specifying informative and dense reward functions remains a pivotal challenge in Reinforcement Learning, as it directly affects the efficiency of agent training. In this work, we harness the expressive power of quantitative Linear Temporal…

Spatio-Temporal prediction plays a critical role in smart city construction. Jointly modeling multiple spatio-temporal tasks can further promote an intelligent city life by integrating their inseparable relationship. However, existing…

Temporal logic inference is the process of extracting formal descriptions of system behaviors from data in the form of temporal logic formulas. The existing temporal logic inference methods mostly neglect uncertainties in the data, which…

Reward specification plays a central role in reinforcement learning (RL), guiding the agent's behavior. To express non-Markovian rewards, formalisms such as reward machines have been introduced to capture dependencies on histories. However,…

Autonomous systems increasingly rely on human feedback to align their behavior, expressed as pairwise comparisons, rankings, or demonstrations. While existing methods can adapt behaviors, they often fail to guarantee safety in…