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Reinforcement learning (RL) algorithms aim to learn optimal decisions in unknown environments through experience of taking actions and observing the rewards gained. In some cases, the environment is not influenced by the actions of the RL…

Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

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 investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…

Many tasks in control, robotics, and planning can be specified using desired goal configurations for various entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. However, current…

Temporal logic specifications play an important role in a wide range of software analysis tasks, such as model checking, automated synthesis, program comprehension, and runtime monitoring. Given a set of positive and negative examples,…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Imitation learning is effective for training agents when expert demonstrations are available, but collecting demonstrations for every complex task in an environment is costly. We study the long-horizon, goal-conditioned setting where a…

Multi-modal large language models (MLLMs) have enabled numerous advances in understanding and reasoning in domains like vision, but we have not yet seen this broad success for time-series. Although prior works on time-series MLLMs have…

Compositional reinforcement learning is a promising approach for training policies to perform complex long-horizon tasks. Typically, a high-level task is decomposed into a sequence of subtasks and a separate policy is trained to perform…

In this work, we address the challenge of zero-shot generalization (ZSG) in Reinforcement Learning (RL), where agents must adapt to entirely novel environments without additional training. We argue that understanding and utilizing…

We present a method for learning multi-stage tasks from demonstrations by learning the logical structure and atomic propositions of a consistent linear temporal logic (LTL) formula. The learner is given successful but potentially suboptimal…

Effective coordination is crucial to solve multi-agent collaborative (MAC) problems. While centralized reinforcement learning methods can optimally solve small MAC instances, they do not scale to large problems and they fail to generalize…

Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

Decision-making tasks often unfold on graphs with spatial-temporal dynamics. Black-box reinforcement learning often overlooks how local changes spread through network structure, limiting sample efficiency and interpretability. We present…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

Automaton based approaches have enabled robots to perform various complex tasks. However, most existing automaton based algorithms highly rely on the manually customized representation of states for the considered task, limiting its…

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,…