2 citations · 2 across the 11 of their papers we have counts for
12 papers
Belief Space Planning for Risk Signal Temporal Logic via Mixed-Integer Convex Programming
Shaohang Han, Joris Verhagen, Kaier Liang +1
Signal Temporal Logic (STL) specifies robot tasks with spatio-temporal requirements, and its robustness semantics allow planning by trajectory optimization. In practice, robots est…
ViTL: Temporal Logic-Guided Zero-Shot Natural Language Navigation via Vision-Language Models
Kaier Liang, Hengde Dai, Cristian-Ioan Vasile
Enabling robots to follow natural language commands to complete zero-shot long-horizon tasks remains challenging. It requires extracting implicit temporal and logical constraints f…
Differentiable SpaTiaL: Symbolic Learning and Reasoning with Geometric Temporal Logic for Manipulation Tasks
Licheng Luo, Kaier Liang, Cristian-Ioan Vasile +1
Executing complex manipulation in cluttered environments requires satisfying coupled geometric and temporal constraints. Although Spatio-Temporal Logic (SpaTiaL) offers a principle…
NL2SpaTiaL: Generating Geometric Spatio-Temporal Logic Specifications from Natural Language for Manipulation Tasks
Licheng Luo, Kaier Liang, Yu Xia +1
While Temporal Logic provides a rigorous verification framework for robotics, it typically operates on trajectory-level signals and does not natively represent the object-centric g…
Time-aware Motion Planning in Dynamic Environments with Conformal Prediction
Kaier Liang, Licheng Luo, Yixuan Wang +2
Safe navigation in dynamic environments remains challenging due to uncertain obstacle behaviors and the lack of formal prediction guarantees. We propose two motion planning framewo…
An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Resource Transportation Uncertainty and Temporal Logic Goals
Gustavo A. Cardona, Kaier Liang, Cristian-Ioan Vasile
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with divers…
Safe Navigation in Dynamic Environments Using Data-Driven Koopman Operators and Conformal Prediction
Kaier Liang, Guang Yang, Mingyu Cai +1
We propose a novel framework for safe navigation in dynamic environments by integrating Koopman operator theory with conformal prediction. Our approach leverages data-driven Koopma…
Learning Optimal Signal Temporal Logic Decision Trees for Classification: A Max-Flow MILP Formulation
Kaier Liang, Gustavo A. Cardona, Disha Kamale +1
This paper presents a novel framework for inferring timed temporal logic properties from data. The dataset comprises pairs of finite-time system traces and corresponding labels, de…
Distributed Fair Assignment and Rebalancing for Mobility-on-Demand Systems via an Auction-based Method
Kaier Liang, Cristian-Ioan Vasile
In this paper, we consider fair assignment of complex requests for Mobility-On-Demand systems. We model the transportation requests as temporal logic formulas that must be satisfie…
Control Barrier Function for Linearizable Systems with High Relative Degrees from Signal Temporal Logics: A Reference Governor Approach
Kaier Liang, Mingyu Cai, Cristian-Ioan Vasile
This paper considers the safety-critical navigation problem with Signal Temporal Logic (STL) tasks. We developed an explicit reference governor-guided control barrier function (ERG…
Fair Planning for Mobility-on-Demand with Temporal Logic Requests
Kaier Liang, Cristian-Ioan Vasile
Mobility-on-demand systems are transforming the way we think about the transportation of people and goods. Most research effort has been placed on scalability issues for systems wi…
Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot
Kaier Liang, Eric Sihite, Pravin Dangol +2
Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly reg…