相关论文: Learning specifications for reactive synthesis wit…

This work introduces efficient symbolic algorithms for quantitative reactive synthesis. We consider resource-constrained robotic manipulators that need to interact with a human to achieve a complex task expressed in linear temporal logic.…

Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes exploration and constraint satisfaction…

Statistical and systematic challenges in collaboratively training machine learning models across distributed networks of mobile devices have been the bottlenecks in the real-world application of federated learning. In this work, we show…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

In many real-world reinforcement learning (RL) problems, besides optimizing the main objective function, an agent must concurrently avoid violating a number of constraints. In particular, besides optimizing performance it is crucial to…

A critical goal of autonomy and artificial intelligence is enabling autonomous robots to rapidly adapt in dynamic and uncertain environments. Classic adaptive control and safe control provide stability and safety guarantees but are limited…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learning (RL). However, these methods often have high…

Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for transferring skills to robots. It allows to implicitly learn…

There is significant growth and interest in the use of synthetic data as an enabler for machine learning in environments where the release of real data is restricted due to privacy or availability constraints. Despite a large number of…

Smart contract-based automation of financial derivatives offers substantial efficiency gains, but its real-world adoption is constrained by the complexity of translating financial specifications into gas-efficient executable code. In…

We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, automated distributed policy generation for multi-robot motion planning. Our approach combines the advantage of centralized planning of avoiding local minima with the…

Reinforcement learning (RL) methods have been shown to be capable of learning intelligent behavior in rich domains. However, this has largely been done in simulated domains without adequate focus on the process of building the simulator. In…

This paper addresses learning safe output feedback control laws from partial observations of expert demonstrations. We assume that a model of the system dynamics and a state estimator are available along with corresponding error bounds,…

In this paper, we introduce an automata-based framework for planning with relaxed specifications. User relaxation preferences are represented as weighted finite state edit systems that capture permissible operations on the specification,…

Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given tasks, but it is often in conflict with optimal execution.…

In this paper, we study the learning of safe policies in the setting of reinforcement learning problems. This is, we aim to control a Markov Decision Process (MDP) of which we do not know the transition probabilities, but we have access to…

This paper presents a framework towards prompting multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities demonstrated by recent language models in understanding and…