相关论文: The Trembling-Hand Problem for LTLf Planning

This paper considers an online (real-time) control problem that involves an agent performing a discrete-time random walk over a finite state space. The agent's action at each time step is to specify the probability distribution for the next…

In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…

In this paper, we consider a temporal logic planning problem in which the objective is to find an infinite trajectory that satisfies an optimal selection from a set of soft specifications expressed in linear temporal logic (LTL) while…

We study frequency linear-time temporal logic (fLTL) which extends the linear-time temporal logic (LTL) with a path operator $G^p$ expressing that on a path, certain formula holds with at least a given frequency p, thus relaxing the…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the…

In recent years, researchers have made significant progress in devising reinforcement-learning algorithms for optimizing linear temporal logic (LTL) objectives and LTL-like objectives. Despite these advancements, there are fundamental…

Translating natural language instructions into executable motion plans is a fundamental challenge in robotics. Traditional approaches are typically constrained by their reliance on domain-specific expertise to customize planners, and often…

This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…

Automated temporal planning is the technology of choice when controlling systems that can execute more actions in parallel and when temporal constraints, such as deadlines, are needed in the model. One limitation of several action-based…

We study the problem of designing an optimal sequence of incentives that a principal should offer to an agent so that the agent's optimal behavior under the incentives realizes the principal's objective expressed as a temporal logic…

Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement…

We study the policy evaluation problem in multi-agent reinforcement learning, modeled by a Markov decision process. In this problem, the agents operate in a common environment under a fixed control policy, working together to discover the…

We study temporally extended goals expressed in Pure-Past LTL (PPLTL). PPLTL is particularly interesting for expressing goals since it allows to express sophisticated tasks as in the Formal Methods literature, while the worst-case…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

Timeline-based planning is an approach originally developed in the context of space mission planning and scheduling, where problem domains are modelled as systems made of a number of independent but interacting components, whose behaviour…

Recent research has shown that surprisingly rich models of human activity can be learned from GPS (positional) data. However, most effort to date has concentrated on modeling single individuals or statistical properties of groups of people.…

This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…