相关论文: Logically Constrained Robotics Transformers for En…

Large Language Models (LLMs) acquire extensive knowledge and remarkable abilities from extensive text corpora, making them powerful tools for various applications. To make LLMs more usable, aligning them with human preferences is essential.…

Foundation models have demonstrated strong reasoning and generalization capabilities in driving-related tasks, including scene understanding, planning, and control. However, they still face challenges in hallucinations, uncertainty, and…

Autonomous systems embedded with machine learning modules often rely on deep neural networks for classifying different objects of interest in the environment or different actions or strategies to take for the system. Due to the…

Large language models (LLMs) may generate outputs that are misaligned with user intent, lack contextual grounding, or exhibit hallucinations during conversation, which compromises the reliability of LLM-based applications. This review aimed…

Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…

We propose an efficient fine-tuning method for time series foundation models, termed TRACE: Time Series Parameter Efficient Fine-tuning. While pretrained time series foundation models are gaining popularity, they face the following…

Tasks with complex temporal structures and long horizons pose a challenge for reinforcement learning agents due to the difficulty in specifying the tasks in terms of reward functions as well as large variances in the learning signals. We…

Answering time-sensitive questions from long documents requires temporal reasoning over the times in questions and documents. An important open question is whether large language models can perform such reasoning solely using a provided…

Large Language Models demonstrate remarkable mathematical capabilities but at the same time struggle with abstract reasoning and planning. In this study, we explore whether Transformers can learn to abstract and generalize the rules…

Recent work in offline reinforcement learning (RL) has demonstrated the effectiveness of formulating decision-making as return-conditioned supervised learning. Notably, the decision transformer (DT) architecture has shown promise across…

While Transformers excel in language and vision-where inputs are semantically rich and exhibit univariate dependency structures-their architectural complexity leads to diminishing returns in time series forecasting. Time series data is…

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes…

This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less…

This paper presents a model-free reinforcement learning (RL) algorithm to synthesize a control policy that maximizes the satisfaction probability of linear temporal logic (LTL) specifications. Due to the consideration of environment and…

We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…

The reasoning capabilities of large language models (LLMs) have significantly advanced their performance by enabling in-depth understanding of diverse tasks. With growing interest in applying LLMs to the time series domain, this has proven…

Recent advances in the development of robotic foundation models have led to promising end-to-end and general-purpose capabilities in robotic systems. Trained on vast datasets of simulated and real-world trajectories, these policies map…

In this work, we investigate the merits of explicitly optimizing for inference time algorithmic performance during model training. We show how optimizing for inference time performance can improve overall model efficacy. We consider generic…

Recently, there has been a surge of Transformer-based solutions for the long-term time series forecasting (LTSF) task. Despite the growing performance over the past few years, we question the validity of this line of research in this work.…

This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…