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

In Meta-Reinforcement Learning (meta-RL) an agent is trained on a set of tasks to prepare for and learn faster in new, unseen, but related tasks. The training tasks are usually hand-crafted to be representative of the expected distribution…

Machine teaching is an algorithmic framework for teaching a target hypothesis via a sequence of examples or demonstrations. We investigate machine teaching for temporal logic formulas -- a novel and expressive hypothesis class amenable to…

Multi-task representation learning (MTRL) is an approach that learns shared latent representations across related tasks, facilitating collaborative learning that improves the overall learning efficiency. This paper studies MTRL for…

Representation multi-task learning (MTL) has achieved tremendous success in practice. However, the theoretical understanding of these methods is still lacking. Most existing theoretical works focus on cases where all tasks share the same…

This paper addresses planning problems for mobile robots. We consider missions that require accomplishing multiple high-level sub-tasks, expressed in natural language (NL), in a temporal and logical order. To formally define the mission, we…

Motivated by the challenge presented by non-Markovian objectives in reinforcement learning (RL), we present a novel framework to track and represent the progress of autonomous agents through complex, multi-stage tasks. Given a specification…

Linear temporal logic (LTL) offers a simplified way of specifying tasks for policy optimization that may otherwise be difficult to describe with scalar reward functions. However, the standard RL framework can be too myopic to find maximally…

Test-time scaling (TTS) enhances the performance of large language models (LLMs) by allocating additional compute resources during inference. However, existing research primarily investigates TTS in single-stage tasks; while many real-world…

This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…

Virtually all verification and synthesis techniques assume that the formal specifications are readily available, functionally correct, and fully match the engineer's understanding of the given system. However, this assumption is often…

The typical multi-task learning methods for spatio-temporal data prediction involve low-rank tensor computation. However, such a method have relatively weak performance when the task number is small, and we cannot integrate it into…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

This paper presents a general framework to integrate prior knowledge in the form of logic constraints among a set of task functions into kernel machines. The logic propositions provide a partial representation of the environment, in which…

Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…

Since its inception, the modus operandi of multi-task learning (MTL) has been to minimize the task-wise mean of the empirical risks. We introduce a generalized loss-compositional paradigm for MTL that includes a spectrum of formulations as…

Test-Time Learning (TTL) enables language agents to iteratively refine their performance through repeated interactions with the environment at inference time. At the core of TTL is an adaptation policy that updates the actor policy based on…

Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…

Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…

In the field of large language model (LLM)-based proof generation, despite extensive training on large datasets such as ArXiv, LLMs still exhibit only modest performance on proving tasks of moderate difficulty. We believe that this is…