相关论文: Logically Constrained Robotics Transformers for En…

Transferring high-level knowledge from a source task to a target task is an effective way to expedite reinforcement learning (RL). For example, propositional logic and first-order logic have been used as representations of such knowledge.…

Techniques that learn improved representations via offline data or self-supervised objectives have shown impressive results in traditional reinforcement learning (RL). Nevertheless, it is unclear how improved representation learning can…

Traditional time series analysis has long relied on pattern recognition, trained on static and well-established benchmarks. However, in real-world settings -- where policies shift, human behavior adapts, and unexpected events unfold --…

Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Controllable trajectory generation guided by high-level semantic decisions, termed meta-actions, is crucial for autonomous driving systems. A significant limitation of existing frameworks is their reliance on invariant meta-actions assigned…

Predictive modeling on tabular data is the cornerstone of many real-world applications. Although gradient boosting machines and some recent deep models achieve strong performance on tabular data, they often lack interpretability. On the…

In this paper, we evaluate the capability of transformer-based language models in making inferences over uncertain text that includes uncertain rules of reasoning. We cover both Pre-trained Language Models (PLMs) and generative Large…

Recent advancements in Large Language Models have sparked interest in their potential for robotic task planning. While these models demonstrate strong generative capabilities, their effectiveness in producing structured and executable plans…

Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…

This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and…

Token prediction stability remains a challenge in autoregressive generative models, where minor variations in early inference steps often lead to significant semantic drift over extended sequences. A structured modulation mechanism was…

Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing…

Planning is a crucial element of both human intelligence and contemporary large language models (LLMs). In this paper, we initiate a theoretical investigation into the emergence of planning capabilities in Transformer-based LLMs via their…

Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…

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…

Time series forecasting drives operational decisions in areas like finance, transportation, and energy. While supervised learning approaches achieve strong performance, they require domain-specific training, feature engineering, and ongoing…