相关论文: Task Modifiers for HTN Planning and Acting

To train neural machine translation models simultaneously on multiple tasks (languages), it is common to sample each task uniformly or in proportion to dataset sizes. As these methods offer little control over performance trade-offs, we…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

Decision transformers recast reinforcement learning as a conditional sequence generation problem, offering a simple but effective alternative to traditional value or policy-based methods. A recent key development in this area is the…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Delay tolerant network (DTN) is opportunistic network where each node searches best opportunity to deliver the message called bundle to the destination. DTN implements a store and forward message switching system by simply introducing…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Deep Multi-Task Learning (DMTL) has been widely studied in the machine learning community and applied to a broad range of real-world applications. Searching for the optimal knowledge sharing in DMTL is more challenging for sequential…

In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We…

As the application space of language models continues to evolve, a natural question to ask is how we can quickly adapt models to new tasks. We approach this classic question from a continual learning perspective, in which we aim to continue…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Large language model (LLM)-based agents have demonstrated remarkable capabilities in decision-making tasks, but struggle significantly with complex, long-horizon planning scenarios. This arises from their lack of macroscopic guidance,…

As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model,…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

In agent control issues, the idea of combining reinforcement learning and planning has attracted much attention. Two methods focus on micro and macro action respectively. Their advantages would show together if there is a good cooperation…

The optimal solution to an optimization problem depends on the problem's objective function, constraints, and size. While deep neural networks (DNNs) have proven effective in solving optimization problems, changes in the problem's size,…

We consider the problem of efficient patrolling strategy adaptation in a changing environment where the topology of Defender's moves and the importance of guarded targets change unpredictably. The Defender must instantly switch to a new…

By dynamic planning, we refer to the ability of the human brain to infer and impose motor trajectories related to cognitive decisions. A recent paradigm, active inference, brings fundamental insights into the adaptation of biological…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…