相关论文: Learning Safe Numeric Planning Action Models

Automated Planning algorithms require a model of the domain that specifies the preconditions and effects of each action. Obtaining such a domain model is notoriously hard. Algorithms for learning domain models exist, yet it remains unclear…

Powerful domain-independent planners have been developed to solve various types of planning problems. These planners often require a model of the acting agent's actions, given in some planning domain description language. Manually designing…

This paper presents the PlanMiner-N algorithm, a domain learning technique based on the PlanMiner domain learning algorithm. The algorithm presented here improves the learning capabilities of PlanMiner when using noisy data as input. The…

Creating a domain model, even for classical, domain-independent planning, is a notoriously hard knowledge-engineering task. A natural approach to solve this problem is to learn a domain model from observations. However, model learning…

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…

Deep reinforcement learning (DRL) may explore infeasible actions during training and execution. Existing approaches assume a symbol grounding function that maps high-dimensional states to consistent symbolic representations and a manually…

This paper presents a neurosymbolic framework to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described using temporal logic formulas such as Linear Temporal Logic (LTL) to capture…

Safety is critical in autonomous robotic systems. A safe control law ensures forward invariance of a safe set (a subset in the state space). It has been extensively studied regarding how to derive a safe control law with a control-affine…

We introduce a framework for model learning and planning in stochastic domains with continuous state and action spaces and non-Gaussian transition models. It is efficient because (1) local models are estimated only when the planner requires…

Learning-based methods have been successful in solving complex control tasks without significant prior knowledge about the system. However, these methods typically do not provide any safety guarantees, which prevents their use in…

This paper considers the problem of online multi-robot motion planning with general nonlinear dynamics subject to unknown external disturbances. We propose dSLAP, a distributed safe learning and planning framework that allows the robots to…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Automatic segmentation of medical images is crucial in modern clinical workflows. The Segment Anything Model (SAM) has emerged as a versatile tool for image segmentation without specific domain training, but it requires human prompts and…

Symbolic planners can discover a sequence of actions from initial to goal states given expert-defined, domain-specific logical action semantics. Large Language Models (LLMs) can directly generate such sequences, but limitations in reasoning…

The self-attention mechanism (SAM) has demonstrated remarkable success in various applications. However, training SAM on classical computers becomes computationally challenging as the number of trainable parameters grows. Quantum neural…

Learning to control a safety-critical system with latent dynamics (e.g. for deep brain stimulation) requires taking calculated risks to gain information as efficiently as possible. To address this problem, we present a…

Learning time-series models is useful for many applications, such as simulation and forecasting. In this study, we consider the problem of actively learning time-series models while taking given safety constraints into account. For…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…

Active learning methods have shown great promise in reducing the number of samples necessary for learning. As automated learning systems are adopted into real-time, real-world decision-making pipelines, it is increasingly important that…