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

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely…

Non-markovian Reinforcement Learning (RL) tasks are very hard to solve, because agents must consider the entire history of state-action pairs to act rationally in the environment. Most works use symbolic formalisms (as Linear Temporal Logic…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Reasoning on the context of human beings is crucial for many real-world applications especially for those deploying autonomous systems (e.g. robots). In this paper, we present a new approach for context reasoning to further advance the…

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…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Effective human-robot collaboration requires the ability to learn personalized concepts from a limited number of demonstrations, while exhibiting inductive generalization, hierarchical composition, and adaptability to novel constraints.…

Recent advancements in Large Language Models (LLMs) have paved the way for Large Code Models (LCMs), enabling automation in complex software engineering tasks, such as code generation, software testing, and program comprehension, among…

Real-world task planning requires long-horizon reasoning over large sets of objects with complex relationships and attributes, leading to a combinatorial explosion for classical symbolic planners. To prune the search space, recent methods…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

We present a neurosymbolic approach, i.e., combining symbolic and subsymbolic artificial intelligence, to validating offer documents in regulated public institutions. We employ a language model to extract information and then aggregate with…

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…

This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Temporal Logic over finite traces ($\ltlf$) specification…

We introduce Neuro-Symbolic Continual Learning, where a model has to solve a sequence of neuro-symbolic tasks, that is, it has to map sub-symbolic inputs to high-level concepts and compute predictions by reasoning consistently with prior…

In robotic domains, learning and planning are complicated by continuous state spaces, continuous action spaces, and long task horizons. In this work, we address these challenges with Neuro-Symbolic Relational Transition Models (NSRTs), a…

Neuro-symbolic learning was proposed to address challenges with training neural networks for complex reasoning tasks with the added benefits of interpretability, reliability, and efficiency. Neuro-symbolic learning methods traditionally…

This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…

Large language models (LLMs) and theorem provers (TPs) can be effectively combined for verifiable natural language inference (NLI). However, existing approaches rely on a fixed logical formalism, a feature that limits robustness and…