相关论文: Verification of Logical Consistency in Robotic Rea…

Language Models and Vision Language Models have recently demonstrated unprecedented capabilities in terms of understanding human intentions, reasoning, scene understanding, and planning-like behaviour, in text form, among many others. In…

We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…

We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…

In multi-agent system design, a crucial aspect is to ensure robustness, meaning that for a coalition of agents A, small violations of adversarial assumptions only lead to small violations of A's goals. In this paper we introduce a logical…

To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval…

Software engineering of modular robotic systems is a challenging task, however, verifying that the developed components all behave as they should individually and as a whole presents its own unique set of challenges. In particular, distinct…

Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…

When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, in reality, situations often arise that such a shared mental…

Logical rules are a popular knowledge representation language in many domains, representing background knowledge and encoding information that can be derived from given facts in a compact form. However, rule formulation is a complex process…

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Chain-of-Thought (CoT) prompting has significantly advanced the reasoning capabilities of large language models (LLMs). While prior work focuses on improving model performance through internal reasoning strategies, little is known about the…

Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…

We propose a local model-checking proof system for a fragment of CTL. The rules of the proof system are motivated by the well-known fixed-point characterisation of CTL based on unfolding of the temporal operators. To guarantee termination…

Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot…

Large Language Models (LLMs) are typically trained to reflect a relatively uniform set of values, which limits their applicability to tasks that require understanding of nuanced human perspectives. Recent research has underscored the…

Predicting the near-term behavior of a reactive agent is crucial in many robotic scenarios, yet remains challenging when observations of that agent are sparse or intermittent. Vision-Language Models (VLMs) offer a promising avenue by…

Robotic systems often use predictive uncertainty to decide whether to act autonomously or defer to a fallback policy. In threshold-gated autonomy, uncertainty matters mainly through its ability to rank likely errors. Standard metrics such…

We present a novel, regulator-driven approach for the temporal verification of black-box autonomous robot policies, inspired by real-world certification processes where regulators often evaluate observable behavior without access to model…

We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…

The existing core methods, which are employed by the popular CTL model checking tools, are facing the famous state explode problem. In our previous study, a method based on the Machine Learning (ML) algorithms was proposed to address this…