相关论文: Planning with State Abstractions for Non-Markovian…

We study infinite-horizon average-reward Markov decision processes (AMDPs) in the context of general function approximation. Specifically, we propose a novel algorithmic framework named Local-fitted Optimization with OPtimism (LOOP), which…

We consider synthesis of control policies that maximize the probability of satisfying given temporal logic specifications in unknown, stochastic environments. We model the interaction between the system and its environment as a Markov…

A fundamental (and largely open) challenge in sequential decision-making is dealing with non-stationary environments, where exogenous environmental conditions change over time. Such problems are traditionally modeled as non-stationary…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from…

We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios. The proposed system employs two large language model (LLM)…

This paper addresses a motion planning problem to achieve spatio-temporal-logical tasks, expressed by syntactically co-safe linear temporal logic specifications (scLTL\next), in uncertain environments. Here, the uncertainty is modeled as…

This work targets the development of an efficient abstraction method for formal analysis and control synthesis of discrete-time stochastic hybrid systems (SHS) with linear dynamics. The focus is on temporal logic specifications, both over…

Large language models (LLMs) have shown remarkable in-context learning (ICL) capabilities, yet their potential for sequential decision-making remains underexplored. In this paper, we study the ICL capabilities of LLMs in sequential…

Large language models (LLMs) have made remarkable progress in generating fluent text, but they still face a critical challenge of contextual misalignment in long-term and dynamic dialogue. When human users omit premises, simplify…

Decision-making policies for agents are often synthesized with the constraint that a formal specification of behaviour is satisfied. Here we focus on infinite-horizon properties. On the one hand, Linear Temporal Logic (LTL) is a popular…

Our work aims at developing reinforcement learning algorithms that do not rely on the Markov assumption. We consider the class of Non-Markov Decision Processes where histories can be abstracted into a finite set of states while preserving…

An effective approach to solving long-horizon tasks in robotics domains with continuous state and action spaces is bilevel planning, wherein a high-level search over an abstraction of an environment is used to guide low-level…

The Markov decision process (MDP) formulation used to model many real-world sequential decision making problems does not efficiently capture the setting where the set of available decisions (actions) at each time step is stochastic.…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Large language model (LLM)-based agents are increasingly used to perform complex, multi-step workflows in regulated settings such as compliance and due diligence. However, many agentic architectures rely primarily on prompt engineering of a…

We introduce the spatiotemporal Markov decision process (STMDP), a special type of Markov decision process that models sequential decision-making problems which are not only characterized by temporal, but also by spatial interaction…

In this paper, we propose a generalizable method that systematically combines data driven MCMC samplingand inference using rule-based context knowledge for data abstraction. In particular, we demonstrate the usefulness of our method in the…

Reinforcement learning usually assumes a given or sometimes even fixed environment in which an agent seeks an optimal policy to maximize its long-term discounted reward. In contrast, we consider agents that are not limited to passive…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…