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

We present a general framework for risk semantics on Signal Temporal Logic (STL) specifications for stochastic dynamical systems using axiomatic risk theory. We show that under our recursive risk semantics, risk constraints on STL formulas…

Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…

There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important…

We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…

Time series classification is a task of paramount importance, as this kind of data often arises in safety-critical applications. However, it is typically tackled with black-box deep learning methods, making it hard for humans to understand…

Reward design is a key component of deep reinforcement learning, yet some tasks and designer's objectives may be unnatural to define as a scalar cost function. Among the various techniques, formal methods integrated with DRL have garnered…

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…

Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…

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…

A specification given as a formula in linear temporal logic (LTL) defines a system by its set of traces. However, certain features such as information flow security constraints are rather modeled as so-called hyperproperties, which are sets…

This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…

Multi-Task Learning (MTL) can enhance a classifier's generalization performance by learning multiple related tasks simultaneously. Conventional MTL works under the offline or batch setting, and suffers from expensive training cost and poor…

This paper revisits the classical notion of sampling in the setting of real-time temporal logics for the modeling and analysis of systems. The relationship between the satisfiability of Metric Temporal Logic (MTL) formulas over…

Tensor train (TT) decomposition provides a space-efficient representation for higher-order tensors. Despite its advantage, we face two crucial limitations when we apply the TT decomposition to machine learning problems: the lack of…

We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…

There has been a growing interest in extracting formal descriptions of the system behaviors from data. Signal Temporal Logic (STL) is an expressive formal language used to describe spatial-temporal properties with interpretability. This…

The distributed monitoring of swarms of devices cooperating to common global goals is becoming increasingly important, as such systems are employed for critical applications, e.g., in search and rescue missions during emergencies. In this…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Problems arise when using reward functions to capture dependencies between sequential time-constrained goal states because the state-space must be prohibitively expanded to accommodate a history of successfully achieved sub-goals. Also,…

Effective modeling of heterogeneous subpopulations presents a significant challenge due to variations in individual characteristics and behaviors. This paper proposes a novel approach to address this issue through multi-task learning (MTL)…