4 papers · 1 filter
Learning Robot Policies from Sparse Success Signals via STL-Guided Stein Variational Policy Gradient
Hongrui Zheng, Cristian Ioan Vasile, Antonio Loquercio +1
Learning robot policies for tasks with sparse success signals is challenging when completion depends on coordinated actions, precise contact outcomes, or satisfying several conditi…
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…
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Hongrui Zheng, Zirui Zang, Ahmad Amine +2
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control traj…
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…