相关论文: Neurosymbolic Motion and Task Planning for Linear …

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as…

Spatial reasoning based on natural language expressions is essential for everyday human tasks. This reasoning ability is also crucial for machines to interact with their environment in a human-like manner. However, recent research shows…

Machine learning-based methods have achieved successful applications in machinery fault diagnosis. However, the main limitation that exists for these methods is that they operate as a black box and are generally not interpretable. This…

Linear temporal logic (LTL) is a compelling framework for specifying complex, structured tasks for reinforcement learning (RL) agents. Recent work has shown that interpreting LTL instructions as finite automata, which can be seen as…

Machine learning methods trained on raw numerical time series data exhibit fundamental limitations such as a high sensitivity to the hyper parameters and even to the initialization of random weights. A combination of a recurrent neural…

In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…

Computational models of pragmatic language use have traditionally relied on hand-specified sets of utterances and meanings, limiting their applicability to real-world language use. We propose a neuro-symbolic framework that enhances…

Planning is one of the most critical tasks in autonomous systems, where even a small error can lead to major failures or million-dollar losses. Current state-of-the-art neural planning approaches struggle with complex domains, producing…

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…

In this paper, we consider the problem of synthesizing a controller in the presence of uncertainty such that the resulting closed-loop system satisfies certain hard constraints while optimizing certain (soft) performance objectives. We…

Large language models (LLMs) exhibit strong general-purpose reasoning capabilities, yet they frequently hallucinate when used as world models (WMs), where strict compliance with deterministic transition rules--particularly in corner…

Existing approaches for predictive process monitoring are sub-symbolic, meaning that they learn correlations between descriptive features and a target feature fully based on data, e.g., predicting the surgical needs of a patient based on…

Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

Safety is crucial for robotic missions within an uncertain environment. Common safety requirements such as collision avoidance are only state-dependent, which can be restrictive for complex missions. In this work, we address a more general…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

One of the goals of neuro-symbolic artificial intelligence is to exploit background knowledge to improve the performance of learning tasks. However, most of the existing frameworks focus on the simplified scenario where knowledge does not…

Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…

Recent works have shown that Large Language Models (LLMs) could empower traditional neuro-symbolic models via programming capabilities to translate language into module descriptions, thus achieving strong visual reasoning results while…

Neuro-symbolic systems combine the abilities of neural perception and logical reasoning. However, end-to-end learning of neuro-symbolic systems is still an unsolved challenge. This paper proposes a natural framework that fuses neural…