相关论文: Formalizing Stateful Behavior Trees

Syntactic Language Models (SLMs) can be trained efficiently to reach relatively high performance; however, they have trouble with inference efficiency due to the explicit generation of syntactic structures. In this paper, we propose a new…

With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…

Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…

Tree-based regression and classification has become a standard tool in modern data science. Bayesian Additive Regression Trees (BART) has in particular gained wide popularity due its flexibility in dealing with interactions and non-linear…

Deep Reinforcement Learning (DRL) has recently achieved significant advances in various domains. However, explaining the policy of RL agents still remains an open problem due to several factors, one being the complexity of explaining neural…

Self-supervised learning (SSL) has emerged as a promising paradigm for learning flexible speech representations from unlabeled data. By designing pretext tasks that exploit statistical regularities, SSL models can capture useful…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

Modern network defense can benefit from the use of autonomous systems, offloading tedious and time-consuming work to agents with standard and learning-enabled components. These agents, operating on critical network infrastructure, need to…

Stateful policies play an important role in reinforcement learning, such as handling partially observable environments, enhancing robustness, or imposing an inductive bias directly into the policy structure. The conventional method for…

Decision Trees have remained a popular machine learning method for tabular datasets, mainly due to their interpretability. However, they lack the expressiveness needed to handle highly nonlinear or unstructured datasets. Motivated by recent…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…

The Binary Search Tree (BST) is average in computer science which supports a compact data structure in memory and oneself even conducts a row of quick algorithms, by which people often apply it in dynamical circumstance. Besides these…

There is increasing interest in applying verification tools to programs that have bitvector operations. SMT solvers, which serve as a foundation for these tools, have thus increased support for bitvector reasoning through bit-blasting and…

Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…

Bayesian Additive Regression Trees (BART) is a tree-based machine learning method that has been successfully applied to regression and classification problems. BART assumes regularisation priors on a set of trees that work as weak learners…

The Stratified Bootstrap Test (SBT) provides a nonparametric, resampling-based framework for assessing the stability of group-specific ranking patterns in multivariate survey or rating data. By repeatedly resampling observations and…

Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperparameters and per-step optimization,…