相关论文: FOND Planning for LTLf and PLTLf Goals

General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…

Even though there are sophisticated AI planning algorithms, many integrated, large-scale projects do not use planning. One reason seems to be the missing support by engineering tools such as syntax highlighting and visualization. We propose…

In this paper, we present our proposal to Constraint Functional Logic Programming over Finite Domains (CFLP(FD)) with a lazy functional logic programming language which seamlessly embodies finite domain (FD) constraints. This proposal…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…

Non deterministic applications arise in many domains, including, stochastic optimization, multi-objectives optimization, stochastic planning, contingent stochastic planning, reinforcement learning, reinforcement learning in partially…

Linear Temporal Logic (LTL) is a formal way of specifying complex objectives for planning problems modeled as Markov Decision Processes (MDPs). The planning problem aims to find the optimal policy that maximizes the satisfaction probability…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

While large language models (LLMs) have recently demonstrated strong potential in solving planning problems, there is a trade-off between flexibility and complexity. LLMs, as zero-shot planners themselves, are still not capable of directly…

Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…

Operating effectively in complex environments while complying with specified constraints is crucial for the safe and successful deployment of robots that interact with and operate around people. In this work, we focus on generating…

Classical planners are powerful systems, but modeling tasks in input formats such as PDDL is tedious and error-prone. In contrast, planning with Large Language Models (LLMs) allows for almost any input text, but offers no guarantees on plan…

The advancement of vision language models (VLMs) has empowered embodied agents to accomplish simple multimodal planning tasks, but not long-horizon ones requiring long sequences of actions. In text-only simulations, long-horizon planning…

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…

Approaches to goal-directed behaviour including online planning and opportunistic planning tackle a change in the environment by generating alternative goals to avoid failures or seize opportunities. However, current approaches only address…

Planning is a crucial task for agents in task oriented dialogs (TODs). Human agents typically resolve user issues by following predefined workflows, decomposing workflow steps into actionable items, and performing actions by executing APIs…

This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…

This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…

We propose a new task-specification language for Markov decision processes that is designed to be an improvement over reward functions by being environment independent. The language is a variant of Linear Temporal Logic (LTL) that is…

Human preferences are not always represented via complete linear orders: It is natural to employ partially-ordered preferences for expressing incomparable outcomes. In this work, we consider decision-making and probabilistic planning in…