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This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…
Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…
Autonomous agents rely on automated planning algorithms to achieve their objectives. Simulation-based planning offers a significant advantage over declarative models in modelling complex environments. However, relying solely on a planner…
Goal Recognition is the task of discerning the correct intended goal that an agent aims to achieve, given a set of possible goals, a domain model, and a sequence of observations as a sample of the plan being executed in the environment.…
This paper addresses planning problems for mobile robots. We consider missions that require accomplishing multiple high-level sub-tasks, expressed in natural language (NL), in a temporal and logical order. To formally define the mission, we…
Consider an agent acting to achieve its temporal goal, but with a "trembling hand". In this case, the agent may mistakenly instruct, with a certain (typically small) probability, actions that are not intended due to faults or imprecision in…
There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example, using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly…
This paper addresses the problem of temporal logic motion planning for an autonomous robot operating in an unknown environment. The objective is to enable the robot to satisfy a syntactically co-safe Linear Temporal Logic (scLTL)…
We consider the problem of learning temporal logic formulas from examples of system behavior. Learning temporal properties has crystallized as an effective mean to explain complex temporal behaviors. Several efficient algorithms have been…
This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…
Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…
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…
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…
Program transformations are widely used in synthesis, optimization, and maintenance of software. Correctness of program transformations depends on preservation of some important properties of the input program. By regarding programs as…
We present two novel algorithms for learning formulas in Linear Temporal Logic (LTL) from examples. The first learning algorithm reduces the learning task to a series of satisfiability problems in propositional Boolean logic and produces a…
We consider here Linear Temporal Logic (LTL) formulas interpreted over \emph{finite} traces. We denote this logic by LTLf. The existing approach for LTLf satisfiability checking is based on a reduction to standard LTL satisfiability…
Many autonomous systems, such as robots and self-driving cars, involve real-time decision making in complex environments, and require prediction of future outcomes from limited data. Moreover, their decisions are increasingly required to be…
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…