However,DBNsonly allow for a fixed chain of Markov dependencies between time slices and cannot represent nested hierarchicalstructures.

Automatic 3D reconstruction of indoor spaces from 2D floor plans necessitates high-precision semantic segmentation of structural elements, particularly walls. However, existing methods often struggle with detecting thin structures and maintaining geometric precision. This study introduces MitUNet, a hybrid neural network combining a Mix-Transformer encoder and a U-Net decoder enhanced with spatial and channel attention blocks. Our approach, optimized with the Tversky loss function, achieves a balance between precision and recall, ensuring accurate boundary recovery. Experiments on the CubiCasa5k dataset and a proprietary regional dataset demonstrate MitUNet's superiority in generating structurally correct masks with high boundary accuracy, outperforming standard models. This tool provides a robust foundation for automated 3D reconstruction pipelines. To ensure reproducibility and facilitate future research, the source code and the proprietary regional dataset are publicly available at https://github.com/aliasstudio/mitunet and https://doi.org/10.5281/zenodo.17871079 respectively.

We propose a new framework for discovering landmarks that automatically generalize across a domain. These generalized landmarks are learned from a set of solved instances and describe intermediate goals for planning problems where traditional landmark extraction algorithms fall short. Our generalized landmarks extend beyond the predicates of a domain by using state functions that are independent of the objects of a specific problem and apply to all similar objects, thus capturing repetition. Based on these functions, we construct a directed generalized landmark graph that defines the landmark progression, including loop possibilities for repetitive subplans. We show how to use this graph in a heuristic to solve new problem instances of the same domain. Our results show that the generalized landmark graphs learned from a few small instances are also effective for larger instances in the same domain. If a loop that indicates repetition is identified, we see a significant improvement in heuristic performance over the baseline. Generalized landmarks capture domain information that is interpretable and useful to an automated planner. This information can be discovered from a small set of plans for the same domain.

-- Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through assumptions such as near-perfect information. We argue that a critical gap remains unaddressed - specifically, the challenge of reasoning about the uncertain outcomes and perception errors inherent to human intention recognition. In response, we present a framework designed to be resilient to uncertainty and sensor noise, integrating real-time sensor data with a combination of planners. Our integrated framework has been successfully tested on a physical robot with promising results. Robotic assistants may be integrated into modern industrial environments, e.g., delivering tools, parts or modules interleaved with tidying the workspace. Such tasks, however, require a combination of robust planning, navigation, grasping, and perception-particularly when explicit commands are not available and the robot must identify and pursue goals, in collaborative spaces shared with people.

In multi-agent environments, effective interaction hinges on understanding the beliefs and intentions of other agents. While prior work on goal recognition has largely treated the observer as a passive reasoner, Active Goal Recognition (AGR) focuses on strategically gathering information to reduce uncertainty. We adopt a probabilistic framework for Active Goal Recognition and propose an integrated solution that combines a joint belief update mechanism with a Monte Carlo Tree Search (MCTS) algorithm, allowing the observer to plan efficiently and infer the actor's hidden goal without requiring domain-specific knowledge. Through comprehensive empirical evaluation in a grid-based domain, we show that our joint belief update significantly outperforms passive goal recognition, and that our domain-independent MCTS performs comparably to our strong domain-specific greedy baseline. These results establish our solution as a practical and robust framework for goal inference, advancing the field toward more interactive and adaptive multi-agent systems.

Goal Recognition (GR) is the problem of recognizing an agent's objectives based on observed actions. Recent data-driven approaches for GR alleviate the need for costly, manually crafted domain models. However, these approaches can only reason about a pre-defined set of goals, and time-consuming training is needed for new emerging goals. To keep this model-learning automated while enabling quick adaptation to new goals, this paper introduces GRAML: Goal Recognition As Metric Learning. GRAML uses a Siamese network to treat GR as a deep metric learning task, employing an RNN that learns a metric over an embedding space, where the embeddings for observation traces leading to different goals are distant, and embeddings of traces leading to the same goals are close. This metric is especially useful when adapting to new goals, even if given just one example observation trace per goal. Evaluated on a versatile set of environments, GRAML shows speed, flexibility, and runtime improvements over the state-of-the-art GR while maintaining accurate recognition.

This paper provides theoretical and empirical comparisons of three recent hierarchical plan repair algorithms: SHOPFixer, IPyHOPPER, and Rewrite. Our theoretical results show that the three algorithms correspond to three different definitions of the plan repair problem, leading to differences in the algorithms' search spaces, the repair problems they can solve, and the kinds of repairs they can make. Understanding these distinctions is important when choosing a repair method for any given application. Building on the theoretical results, we evaluate the algorithms empirically in a series of benchmark planning problems. Our empirical results provide more detailed insight into the runtime repair performance of these systems and the coverage of the repair problems solved, based on algorithmic properties such as replanning, chronological backtracking, and backjumping over plan trees.

Recent advances in multimodal Human-Robot Interaction (HRI) datasets emphasize the integration of speech and gestures, allowing robots to absorb explicit knowledge and tacit understanding. However, existing datasets primarily focus on elementary tasks like object pointing and pushing, limiting their applicability to complex domains. They prioritize simpler human command data but place less emphasis on training robots to correctly interpret tasks and respond appropriately. To address these gaps, we present the NatSGLD dataset, which was collected using a Wizard of Oz (WoZ) method, where participants interacted with a robot they believed to be autonomous. NatSGLD records humans' multimodal commands (speech and gestures), each paired with a demonstration trajectory and a Linear Temporal Logic (LTL) formula that provides a ground-truth interpretation of the commanded tasks. This dataset serves as a foundational resource for research at the intersection of HRI and machine learning. By providing multimodal inputs and detailed annotations, NatSGLD enables exploration in areas such as multimodal instruction following, plan recognition, and human-advisable reinforcement learning from demonstrations. We release the dataset and code under the MIT License at https://www.snehesh.com/natsgld/ to support future HRI research.