相关论文: OBDD-based Universal Planning for Synchronized Age…

When deploying machine learning systems to the wild, it is highly desirable for them to effectively leverage prior knowledge to the unfamiliar domain while also firing alarms to anomalous inputs. In order to address these requirements,…

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…

This paper presents a SysML profile that enables the direct integration of planning semantics based on the Planning Domain Definition Language (PDDL) into system models. Reusable stereotypes are defined for key PDDL concepts such as types,…

The Orienteering Problem (OP) is a well-studied routing problem that has been extended to incorporate uncertainties, reflecting stochastic or dynamic travel costs, prize-collection costs, and prizes. Existing approaches may, however, be…

In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…

Using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to improve performance and control. While most existing methodology only applies to fully observable…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

Optimal power flow (OPF) problems are non-convex and large-scale optimization problems with important applications in power networks. This paper proposes the scheduled-asynchronous algorithm to solve a distributed semidefinite programming…

Ordered binary decision diagrams (OBDDs) are a fundamental data structure for the manipulation of Boolean functions, with strong applications to finite-state symbolic model checking. OBDDs allow for efficient algorithms using top-down…

We introduce a new programming paradigm called oracle-guided decision programming in which a program specifies a Markov Decision Process (MDP) and the language provides a universal policy. We prototype a new programming language, Dodona,…

For combinatorial optimization problems, model-based approaches such as mixed-integer programming (MIP) and constraint programming (CP) aim to decouple modeling and solving a problem: the 'holy grail' of declarative problem solving. We…

Classical planning formulations like the Planning Domain Definition Language (PDDL) admit action sequences guaranteed to achieve a goal state given an initial state if any are possible. However, reasoning problems defined in PDDL do not…

We propose Object-oriented Neural Programming (OONP), a framework for semantically parsing documents in specific domains. Basically, OONP reads a document and parses it into a predesigned object-oriented data structure (referred to as…

This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving…

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…

Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…

With the powerful reasoning capabilities of large language models (LLMs) and vision-language models (VLMs), many recent works have explored using them for decision-making. However, most of these approaches rely solely on language-based…

Dynamic mode decomposition (DMD) provides a regression framework for adaptively learning a best-fit linear dynamics model over snapshots of temporal, or spatio-temporal, data. A diversity of regression techniques have been developed for…

Large Language Models have been found to create plans that are neither executable nor verifiable in grounded environments. An emerging line of work demonstrates success in using the LLM as a formalizer to generate a formal representation of…

Graph-based design languages in UML (Unified Modeling Language) are presented as a method to encode and automate the complete design process and the final optimization of the product or complex system. A design language consists of a…