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

Hand-encoding PDDL domains is generally accepted as difficult, tedious and error-prone. The difficulty is even greater when temporal domains have to be encoded. Indeed, actions have a duration and their effects are not instantaneous. In…

While agent evaluation has shifted toward long-horizon tasks, most benchmarks still emphasize local, step-level reasoning rather than the global constrained optimization (e.g., time and financial budgets) that demands genuine planning…

We propose an automata-theoretic approach for reinforcement learning (RL) under complex spatio-temporal constraints with time windows. The problem is formulated using a Markov decision process under a bounded temporal logic constraint.…

Test-Time Learning (TTL) enables language agents to iteratively refine their performance through repeated interactions with the environment at inference time. At the core of TTL is an adaptation policy that updates the actor policy based on…

We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the…

Time bounded reachability is a fundamental problem in model checking continuous-time Markov chains (CTMCs) and Markov decision processes (CTMDPs) for specifications in continuous stochastic logics. It can be computed by numerically solving…

This paper investigates the motion planning of autonomous dynamical systems modeled by Markov decision processes (MDP) with unknown transition probabilities over continuous state and action spaces. Linear temporal logic (LTL) is used to…

Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of…

We investigate a model for planning under uncertainty with temporallyextended actions, where multiple actions can be taken concurrently at each decision epoch. Our model is based on the options framework, and combines it with factored state…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

We consider the synthesis of control policies from temporal logic specifications for robots that interact with multiple dynamic environment agents. Each environment agent is modeled by a Markov chain whereas the robot is modeled by a finite…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

When humans are given a policy to execute, there can be policy execution errors and deviations in policy if there is uncertainty in identifying a state. This can happen due to the human agent's cognitive limitations and/or perceptual…

We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Time series forecasting (TSF) is a fundamental and widely studied task, spanning methods from classical statistical approaches to modern deep learning and multimodal language modeling. Despite their effectiveness, these methods often follow…

Alternating-time temporal logic (ATL) allows to specify requirements on abilities that different agents should (or should not) possess in a multi-agent system. However, model checking ATL specifications in realistic systems is…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

Propositional Projection Temporal Logic (PPTL) is a useful formalism for reasoning about period of time in hardware and software systems and can handle both sequential and parallel compositions. In this paper, based on discrete time Markov…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…