相关论文: Extended LTLvis Motion Planning interface (Extende…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains…

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,…

Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP). The standard MICP approach is…

Many complex scenarios require the coordination of agents possessing unique points of view and distinct semantic commitments. In response, standpoint logic (SL) was introduced in the context of knowledge integration, allowing one to reason…

Pre-timed traffic signal control, commonly used for operating signalized intersections and coordinated arterials, requires tedious manual work for signaling plan creating and updating. When the time-of-day or day-of-week plans are utilized,…

Robotic planning in real-world scenarios typically requires joint optimization of logic and continuous variables. A core challenge to combine the strengths of logic planners and continuous solvers is the design of an efficient interface…

Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-ended instructions into control signals,…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) formulas. Particularly, the LTL formula requires the system to…

In this paper, we consider a temporal logic planning problem in which the objective is to find an infinite trajectory that satisfies an optimal selection from a set of soft specifications expressed in linear temporal logic (LTL) while…

We present Stratified Metric Temporal Logic (SMTL), a novel formalism for specifying and verifying properties of complex cyber-physical systems that exhibit behaviors across multiple temporal and abstraction scales. SMTL extends existing…

Linear temporal logic (LTL) is widely used in industrial verification. LTL formulae can be learned from traces. Scaling LTL formula learning is an open problem. We implement the first GPU-based LTL learner using a novel form of enumerative…

The recent advances in Large Language Models (LLMs) have stimulated interest among researchers and industry professionals, particularly in their application to tasks concerning mobile user interfaces (UIs). This position paper investigates…

This paper introduces a novel mobile phone control architecture, Lightweight Multi-modal App Control (LiMAC), for efficient interactions and control across various Android apps. LiMAC takes as input a textual goal and a sequence of past…

Signal Temporal Logic (STL) is a powerful language for specifying temporally structured robotic tasks. Planning executable trajectories under STL constraints remains difficult when system dynamics and environment structure are not…

Computation Tree Logic (CTL) and its extensions CTL* and CTL+ are widely used in automated verification as a basis for common model checking tools. But while they can express many properties of interest like reachability, even simple…

In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…