2 papers
cs.RO2026
LOCUS: Landmark-Oriented Container Discrimination Using Spatial Graphs
Taylor Bergeron, Shibani Senthilbabu, Kevin Leahy
As robots are increasingly deployed in unstructured, real-world environments, the ability to reason about complex spatial and semantic relationships among objects remains a fundame…
cs.RO2024
Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition
Taylor Bergeron, Zachary Serlin, Kevin Leahy
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement lea…