相关论文: Decoupled Travel Planning with Behavior Forest

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language…

Integrating large language models (LLMs) into closed-loop robotic task planning has become increasingly popular within embodied artificial intelligence. Previous efforts mainly focused on leveraging the strong reasoning abilities of LLMs to…

Recent studies have highlighted their proficiency in some simple tasks like writing and coding through various reasoning strategies. However, LLM agents still struggle with tasks that require comprehensive planning, a process that…

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…

Travel behavior prediction is a core problem in transportation demand management and is traditionally addressed using numerical models calibrated on observed data. With recent advances in large language models (LLMs), new opportunities have…

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…

Recent advancements in large language models (LLMs) have enabled significant progress in decision-making and task planning for embodied autonomous agents. However, most existing methods struggle with complex, long-horizon tasks because they…

Despite significant advances in Large Language Models (LLMs), planning tasks still present challenges for LLM-based agents. Existing planning methods face two key limitations: heavy constraints and cascading errors. To address these…

Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods…

There emerges a promising trend of using large language models (LLMs) to generate code-like plans for complex inference tasks such as visual reasoning. This paradigm, known as LLM-based planning, provides flexibility in problem solving and…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

Language models generate reasoning sequentially, preventing them from decoupling irrelevant exploration paths during search. We introduce Tree-Structured Language Modeling (TSLM), which uses special tokens to encode branching structure,…

Travel planning serves as a critical task for long-horizon reasoning, exposing significant deficits in LLMs. However, existing benchmarks and evaluations primarily assess final plans in an end-to-end manner, which lacks interpretability and…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

We introduce a challenging real-world planning problem where actions must be taken at each location in a spatial area at each point in time. We use forestry planning as the motivating application. In Large Scale Spatial-Temporal (LSST)…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also be seen in terms of task switching between different…

Designers of autonomous agents, whether in physical or virtual environments, need to express nondeterminisim, failure, and parallelism in behaviors, as well as accounting for synchronous coordination between agents. Behavior Trees are a…