相关论文: Physically-Feasible Repair of Reactive, Linear Tem…

Real-world robotic tasks often require agents to achieve sequences of goals while respecting time-varying safety constraints. However, standard Reinforcement Learning (RL) paradigms are fundamentally limited in these settings. A natural…

We present a deep learning approach for repairing sequential circuits against formal specifications given in linear-time temporal logic (LTL). Given a defective circuit and its formal specification, we train Transformer models to output…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot…

Symbolic task representation is a powerful tool for encoding human instructions and domain knowledge. Such instructions guide robots to accomplish diverse objectives and meet constraints through reinforcement learning (RL). Most existing…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…

Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…

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…

Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…

Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…

We present methods for repairing traces against specifications given as temporal behavior trees (TBT). TBT are a specification formalism for action sequences in robotics and cyber-physical systems, where specifications of sub-behaviors,…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…