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Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix…

Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…

In this paper, we explore multi-task learning (MTL) as a second pretraining step to learn enhanced universal language representation for transformer language models. We use the MTL enhanced representation across several natural language…

Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…

Multi-task learning (MTL) is a learning paradigm that enables the simultaneous training of multiple communicating algorithms. Although MTL has been successfully applied to ether regression or classification tasks alone, incorporating mixed…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…

Implementing intelligent control of robots is a difficult task, especially when dealing with complex black-box systems, because of the lack of visibility and understanding of how these robots work internally. This paper proposes an…

Multi-task learning (MTL) has been widely adopted for its ability to simultaneously learn multiple tasks. While existing gradient manipulation methods often yield more balanced solutions than simple scalarization-based approaches, they…

In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal…

For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…

Future projection of climate is typically obtained by combining outputs from multiple Earth System Models (ESMs) for several climate variables such as temperature and precipitation. While IPCC has traditionally used a simple model output…

The tendency of users to anthropomorphise large language models (LLMs) is of growing interest to AI developers, researchers, and policy-makers. Here, we present a novel method for empirically evaluating anthropomorphic LLM behaviours in…

Ensuring that reinforcement learning (RL) controllers satisfy safety and reliability constraints in real-world settings remains challenging: state-avoidance and constrained Markov decision processes often fail to capture trajectory-level…

Impulsive noise poses a significant challenge to the reliability of wireless communication systems, necessitating accurate estimation of its statistical parameters for effective mitigation. This paper introduces a multitask learning (MTL)…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Learning formulas in Linear Temporal Logic (LTLf) from finite traces is a fundamental research problem which has found applications in artificial intelligence, software engineering, programming languages, formal methods, control of…

Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…

Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task…