相关论文: Specification mining and automated task planning f…

Recent advances in Large Language Models (LLMs) have showcased their remarkable reasoning capabilities, making them influential across various fields. However, in robotics, their use has primarily been limited to manipulation planning tasks…

In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned…

Despite the superior performance of large language models to generate natural language texts, it is hard to generate texts with correct logic according to a given task, due to the difficulties for neural models to capture implied rules from…

We provide a dynamic programming algorithm for the monitoring of a fragment of Timed Propositional Temporal Logic (TPTL) specifications. This fragment of TPTL, which is more expressive than Metric Temporal Logic, is characterized by…

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…

Vision Language Models (VLMs) have recently been adopted in robotics for their capability in common sense reasoning and generalizability. Existing work has applied VLMs to generate task and motion planning from natural language instructions…

We present a general framework to autonomously achieve a task, where autonomy is acquired by learning sensorimotor patterns of a robot, while it is interacting with its environment. To accomplish the task, using the learned sensorimotor…

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…

In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…

Many autonomous systems, such as robots and self-driving cars, involve real-time decision making in complex environments, and require prediction of future outcomes from limited data. Moreover, their decisions are increasingly required to be…

Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is…

The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…

Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Logic (STL) has been shown to be an effective language for…

Neural network-based policies have demonstrated success in many robotic applications, but often lack human-explanability, which poses challenges in safety-critical deployments. To address this, we propose a neuro-symbolic explanation…

Automatic machine learning (AutoML) is a key enabler of the mass deployment of the next generation of machine learning systems. A key desideratum for future ML systems is the automatic selection of models and hyperparameters. We present a…

Automating the generation of Planning Domain Definition Language (PDDL) with Large Language Model (LLM) opens new research topic in AI planning, particularly for complex real-world tasks. This paper introduces Image2PDDL, a novel framework…

We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are…

We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…

Representation learning of the task-oriented attention while tracking instrument holds vast potential in image-guided robotic surgery. Incorporating cognitive ability to automate the camera control enables the surgeon to concentrate more on…

We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…