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

Multi-task learning (MTL) has shown great potential in medical image analysis, improving the generalizability of the learned features and the performance in individual tasks. However, most of the work on MTL focuses on either architecture…

Multi-Task Learning (MTL) aims at boosting the overall performance of each individual task by leveraging useful information contained in multiple related tasks. It has shown great success in natural language processing (NLP). Currently, a…

Large language models~(LLMs) present an intriguing avenue of exploration in the domain of formal theorem proving. Nonetheless, the full utilization of these models, particularly in terms of demonstration formatting and organization, remains…

Cooking recipes are challenging to translate to robot plans as they feature rich linguistic complexity, temporally-extended interconnected tasks, and an almost infinite space of possible actions. Our key insight is that combining a source…

In recent years, researchers have made significant progress in devising reinforcement-learning algorithms for optimizing linear temporal logic (LTL) objectives and LTL-like objectives. Despite these advancements, there are fundamental…

Continuously learning new tasks using high-level ideas or knowledge is a key capability of humans. In this paper, we propose Lifelong reinforcement learning with Sequential linear temporal logic formulas and Reward Machines (LSRM), which…

Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…

Multi-Task Learning (MTL) involves the concurrent training of multiple tasks, offering notable advantages for dense prediction tasks in computer vision. MTL not only reduces training and inference time as opposed to having multiple…

We present a method for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume the data is generated by rollouts of stochastic nonlinear dynamics, under a single state or output feedback law and…

Many complex scenarios require the coordination of agents possessing unique points of view and distinct semantic commitments. In response, standpoint logic (SL) was introduced in the context of knowledge integration, allowing one to reason…

Reward engineering is an important aspect of reinforcement learning. Whether or not the user's intentions can be correctly encapsulated in the reward function can significantly impact the learning outcome. Current methods rely on manually…

Multi-task learning (MTL) aims to build general-purpose vision systems by training a single network to perform multiple tasks jointly. While promising, its potential is often hindered by "unbalanced optimization", where task interference…

With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However,…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

This paper presents a neurosymbolic framework to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described using temporal logic formulas such as Linear Temporal Logic (LTL) to capture…

Synthesizing a program that realizes a logical specification is a classical problem in computer science. We examine a particular type of program synthesis, where the objective is to synthesize a strategy that reacts to a potentially…

The optimization of nuclear engineering designs, such as nuclear fuel assembly configurations, involves managing competing objectives like reactivity control and power distribution. This study explores the use of Optimization by Prompting,…

When demonstrating a task, human tutors pedagogically modify their behavior by either "showing" the task rather than just "doing" it (exaggerating on relevant parts of the demonstration) or by giving demonstrations that best disambiguate…

In human learning, an effective skill in improving learning outcomes is learning by teaching: a learner deepens his/her understanding of a topic by teaching this topic to others. In this paper, we aim to borrow this teaching-driven learning…

Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Temporal Logic (MITL) offers a formal and…