相关论文: Plan Development using Local Probabilistic Models

A central goal of probabilistic programming languages (PPLs) is to separate modelling from inference. However, this goal is hard to achieve in practice. Users are often forced to re-write their models in order to improve efficiency of…

I describe a planning methodology for domains with uncertainty in the form of external events that are not completely predictable. The events are represented by enabling conditions and probabilities of occurrence. The planner is…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

This paper is about the state estimation of timed probabilistic discrete event systems. The main contribution is to propose general procedures for developing state estimation approaches based on artificial neural networks. It is assumed…

We propose a framework for planning in unknown dynamic environments with probabilistic safety guarantees using conformal prediction. Particularly, we design a model predictive controller (MPC) that uses i) trajectory predictions of the…

Generating accurate runtime safety estimates for autonomous systems is vital to ensuring their continued proliferation. However, exhaustive reasoning about future behaviors is generally too complex to do at runtime. To provide scalable and…

Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose behavior may change based on factors such as traffic density,…

The classical approach to design a system is based on a deterministic perspective where the assumption is that the system and its environment are fully predictable, and their behaviour is completely known to the designer. Although this…

We present a new framework called KorraAI for conceiving and building embodied conversational agents (ECAs). Our framework models ECAs' behavior considering contextual information, for example, about environment and interaction time, and…

We consider a sequential decision making process, such as renewable energy trading or electrical production scheduling, whose outcome depends on the future realization of a random factor, such as a meteorological variable. We assume that…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Automated planning is a major topic of research in artificial intelligence, and enjoys a long and distinguished history. The classical paradigm assumes a distinguished initial state, comprised of a set of facts, and is defined over a set of…

Intelligent systems sometimes need to infer the probable goals of people, cars, and robots, based on partial observations of their motion. This paper introduces a class of probabilistic programs for formulating and solving these problems.…

Preventive control is a crucial strategy for power system operation against impending natural hazards, and its effectiveness fundamentally relies on the realism of scenario generation. While most existing studies employ sequential Monte…

We consider the synthesis of control policies for probabilistic systems, modeled by Markov decision processes, operating in partially known environments with temporal logic specifications. The environment is modeled by a set of Markov…

When agents devise plans for execution in the real world, they face two important forms of uncertainty: they can never have complete knowledge about the state of the world, and they do not have complete control, as the effects of their…

Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…

This paper presents an approach to modeling progressive event-history data when the overall objective is prediction based on time-dependent covariates. This approach does not model the hazard function directly. Instead, it models the…

In an introductory tutorial, we illustrated building cohort state-transition models (cSTMs) in R, where the state transitions probabilities were constant over time. However, in practice, many cSTMs require transitions, rewards, or both to…