相关论文: Explaining Multi-stage Tasks by Learning Temporal …

In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…

Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…

The reasoning capabilities of large language models (LLMs) have improved substantially through increased test-time computation, typically in the form of intermediate tokens known as chain-of-thought (CoT). However, CoT often becomes…

Multitask learning (MTL) can utilize the relatedness between multiple tasks for performance improvement. The advent of multimodal data allows tasks to be referenced by multiple indices. High-order tensors are capable of providing efficient…

We aim to solve the problem of temporal-constraint learning from demonstrations to reproduce demonstration-like logic-constrained behaviors. Learning logic constraints is challenging due to the combinatorially large space of possible…

This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

Ensuring that reinforcement learning (RL) controllers satisfy safety and reliability constraints in real-world settings remains challenging: state-avoidance and constrained Markov decision processes often fail to capture trajectory-level…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

Multi-task learning (MTL) aims at improving the generalization performance of several related tasks by leveraging useful information contained in them. However, in industrial scenarios, interpretability is always demanded, and the data of…

Unlike the standard Reinforcement Learning (RL) model, many real-world tasks are non-Markovian, whose rewards are predicated on state history rather than solely on the current state. Solving a non-Markovian task, frequently applied in…

This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks,…

A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…

A combined Short-Term Learning (STL) and Long-Term Learning (LTL) approach to solving mobile-robot navigation problems is presented and tested in both the real and virtual domains. The LTL phase consists of rapid simulations that use a…

Reinforcement learning (RL) with linear temporal logic (LTL) objectives can allow robots to carry out symbolic event plans in unknown environments. Most existing methods assume that the event detector can accurately map environmental states…

This paper presents a model-free reinforcement learning (RL) algorithm to synthesize a control policy that maximizes the satisfaction probability of linear temporal logic (LTL) specifications. Due to the consideration of environment and…

In multi-task learning (MTL), we improve the performance of key machine learning algorithms by training various tasks jointly. When the number of tasks is large, modeling task structure can further refine the task relationship model. For…