Related papers: The Trembling-Hand Problem for LTLf Planning
Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…
A latent bandit problem is one in which the learning agent knows the arm reward distributions conditioned on an unknown discrete latent state. The primary goal of the agent is to identify the latent state, after which it can act optimally.…
We introduce $\textit{PCFTL (Probabilistic CounterFactual Temporal Logic)}$, a new probabilistic temporal logic for the verification of Markov Decision Processes (MDP). PCFTL is the first to include operators for causal reasoning, allowing…
We develop a probabilistic control algorithm, $\texttt{GTLProCo}$, for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The resulting algorithm not only achieves decentralized control…
A key challenge in transportation planning is that the collective preferences of heterogeneous travelers often diverge from the policies produced by model-driven decision tools. This misalignment frequently results in implementation delays…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
We study the problem of policy optimization (PO) with linear temporal logic (LTL) constraints. The language of LTL allows flexible description of tasks that may be unnatural to encode as a scalar cost function. We consider LTL-constrained…
In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…
This paper presents a temporal expression language for monitoring AI agent behavior, enabling systematic error-detection of LLM-based agentic systems that exhibit variable outputs due to stochastic generation processes. Drawing from…
Multi-agent systems can be extremely efficient when solving a team-wide task in a concurrent manner. However, without proper synchronization, the correctness of the combined behavior is hard to guarantee, such as to follow a specific…
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task…
Text-based games present a unique class of sequential decision making problem in which agents interact with a partially observable, simulated environment via actions and observations conveyed through natural language. Such observations…
Prospect Theory (PT) models human decision-making behaviour under uncertainty, among which linguistic uncertainty is commonly adopted in real-world scenarios. Although recent studies have developed some frameworks to test PT parameters for…
Planning problems where effects of actions are non-deterministic can be modeled as Markov decision processes. Planning problems are usually goal-directed. This paper proposes several techniques for exploiting the goal-directedness to…
In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…
This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e.,…
In Reasoning about Action and Planning, one synthesizes the agent plan by taking advantage of the assumption on how the environment works (that is, one exploits the environment's effects, its fairness, its trajectory constraints). In this…
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely…
Multi-Agent Path Finding (MAPF) deals with finding conflict-free paths for a set of agents from an initial configuration to a given target configuration. The Lifelong MAPF (LMAPF) problem is a well-studied online version of MAPF in which an…
We propose a distributed control and coordination strategy for multi-agent systems where each agent has a local task specified as a Linear Temporal Logic (LTL) formula and at the same time is subject to relative-distance constraints with…