相关论文: An Idiotypic Immune Network as a Short Term Learni…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

Diagnosis of cardiovascular diseases usually relies on the widely used standard 12-Lead (S12) ECG system. However, such a system could be bulky, too resource-intensive, and too specialized for personalized home-based monitoring. In…

Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…

We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…

Multi-task learning (MTL) is an efficient solution to solve multiple tasks simultaneously in order to get better speed and performance than handling each single-task in turn. The most current methods can be categorized as either: (i) hard…

We address the problem of learning temporal properties from the branching-time behavior of systems. Existing research in this field has mostly focused on learning linear temporal properties specified using popular logics, such as Linear…

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,…

Large language models (LLMs) like GPTs, trained on vast datasets, have demonstrated impressive capabilities in language understanding, reasoning, and planning, achieving human-level performance in various tasks. Most studies focus on…

Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…

Multi-task learning (MTL) refers to the paradigm of learning multiple related tasks together. In contrast, in single-task learning (STL) each individual task is learned independently. MTL often leads to better trained models because they…

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,…

The integration of Large Language Models (LLMs), such as GPT, in industrial robotics enhances operational efficiency and human-robot collaboration. However, the computational complexity and size of these models often provide latency…

We develop a modular mean field theory for a minimalistic model of the idiotypic network. The model comprises the random influx of new idiotypes and a deterministic selection. It describes the evolution of the idiotypic network towards…

Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its…

Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from complex STL specifications is fundamentally…

The immune system is a complex biological system with a highly distributed, adaptive and self-organising nature. This paper presents an Artificial Immune System (AIS) that exploits some of these characteristics and is applied to the task of…

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…

Multi-Task Learning (MTL) is a powerful technique that has gained popularity due to its performance improvement over traditional Single-Task Learning (STL). However, MTL is often challenging because there is an exponential number of…