Related papers: Conformal Temporal Logic Planning using Large Lang…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains…

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)…

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…

Recent advancements in large language models (LLMs) have enabled significant progress in decision-making and task planning for embodied autonomous agents. However, most existing methods struggle with complex, long-horizon tasks because they…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

There is considerable confusion about the role of Large Language Models (LLMs) in planning and reasoning tasks. On one side are over-optimistic claims that LLMs can indeed do these tasks with just the right prompting or self-verification…

Parallel programs in high performance computing (HPC) continue to grow in complexity and scale in the exascale era. The diversity in hardware and parallel programming models make developing, optimizing, and maintaining parallel software…

Recent successes in natural language processing have led to the proliferation of large language models (LLMs) by multiple providers. Each LLM offering has different inference accuracy, monetary cost, and latency, and their accuracy further…

Achieving expert-level performance in simulation-based training relies on the creation of complex, adaptable scenarios, a traditionally laborious and resource intensive process. Although prior research explored scenario generation for…

The widespread application of Large Language Models (LLMs) has motivated a growing interest in their capacity for processing dynamic graphs. Temporal motifs, as an elementary unit and important local property of dynamic graphs which can…

Large language models (LLMs) struggle on processing complicated observations in interactive decision making tasks. To alleviate this issue, we propose a simple hierarchical prompting approach. Diverging from previous prompting approaches…

Large Language Models (LLMs) were shown to struggle with long-term planning, which may be caused by the limited way in which they explore the space of possible solutions. We propose an architecture where a Reinforcement Learning (RL) Agent…

Recent advances in Large Language Models (LLMs) are fostering their integration into several reasoning-related fields, including Automated Planning (AP). However, their integration into Hierarchical Planning (HP), a subfield of AP that…

Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from…

In this paper we focus on the problem of decomposing a global Signal Temporal Logic formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents is a-priori decomposed to disjoint sub-teams. The predicate…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…

This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…

The Hierarchical Task Network (HTN) formalism is used to express a wide variety of planning problems as task decompositions, and many techniques have been proposed to solve them. However, few works have been done on temporal HTN. This is…