相关论文: Signal Temporal Logic Task Decomposition via Conve…

In this work we address the problem of training a Reinforcement Learning agent to follow multiple temporally-extended instructions expressed in Linear Temporal Logic in sub-symbolic environments. Previous multi-task work has mostly relied…

Decomposing hard problems into subproblems often makes them easier and more efficient to solve. With large language models (LLMs) crossing critical reliability thresholds for a growing slate of capabilities, there is an increasing effort to…

For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…

Teaming is the process of establishing connections among agents within a system to enable collaboration toward achieving a collective goal. This paper examines teaming in the context of a network of agents learning to coordinate with…

Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and…

Integrating symbolic knowledge and data-driven learning algorithms is a longstanding challenge in Artificial Intelligence. Despite the recognized importance of this task, a notable gap exists due to the discreteness of symbolic…

This paper studies distributed algorithms for the extended monotropic optimization problem, which is a general convex optimization problem with a certain separable structure. The considered objective function is the sum of local convex…

This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…

We consider the framework of convex high dimensional stochastic control problems, in which the controls are aggregated in the cost function. As first contribution, we introduce a modified problem, whose optimal control is under some…

This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…

This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…

The semantic segmentation (SS) task aims to create a dense classification by labeling at the pixel level each object present on images. Convolutional neural network (CNN) approaches have been widely used, and exhibited the best results in…

Speculative decoding, which combines a draft model with a target model, has emerged as an effective approach to accelerate large language model (LLM) inference. However, existing methods often face a trade-off between the acceptance rate…

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…

We present a new average-based robustness score for Signal Temporal Logic (STL) and a framework for optimal control of a dynamical system under STL constraints. By averaging the scores of different specifications or subformulae at different…

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…

We present an overview on Temporal Logic Programming under the perspective of its application for Knowledge Representation and declarative problem solving. Such programs are the result of combining usual rules with temporal modal operators,…

Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specification language for dynamical systems. In particular, it can…

Time-series data can represent the behaviors of autonomous systems, such as drones and self-driving cars. The task of binary and multi-class classification for time-series data has become a prominent area of research. Neural networks…

One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…