相关论文: Learning Stack-of-Tasks Management for Redundant R…

This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the…

We study data-driven learning of robust stochastic control for infinite-horizon systems with potentially continuous state and action spaces. In many managerial settings--supply chains, finance, manufacturing, services, and dynamic…

In multi-agent reinforcement learning, decentralized execution is a common approach, yet it suffers from the redundant computation problem. This occurs when multiple agents redundantly perform the same or similar computation due to…

Trajectory planning in robotics is understood as generating a sequence of joint configurations that will lead a robotic agent, or its manipulator, from an initial state to the desired final state, thus completing a manipulation task while…

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…

Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains…

Explainable robots require not only successful task execution but also the ability to expose internal decision-making process in a user-friendly manner. However, most imitation learning methods are trained solely on task-level…

Modeling and controlling complex spatiotemporal dynamical systems driven by partial differential equations (PDEs) often necessitate dimensionality reduction techniques to construct lower-order models for computational efficiency. This paper…

The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…

When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be studied jointly. In this work we consider the problem of…

This paper develops a novel machine learning-based framework using Semi-Supervised Multi-Task Learning (SS-MTL) for power system dynamic security assessment that is accurate, reliable, and aware of topological changes. The learning…

Rare events such as conformational changes in biomolecules, phase transitions, and chemical reactions are central to the behavior of many physical systems, yet they are extremely difficult to study computationally because unbiased…

Automating configuration is the key path to achieving zero-touch network management in ever-complicating mobile networks. Deep learning techniques show great potential to automatically learn and tackle high-dimensional networking problems.…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

The increasing penetration of renewable generation and the growing variability of electrified demand introduce substantial operational uncertainty to modern power systems. Topology reconfiguration is widely recognized as an effective and…

Task allocation is a key combinatorial optimization problem, crucial for modern applications such as multi-robot cooperation and resource scheduling. Decision makers must allocate entities to tasks reasonably across different scenarios.…