arXiv subjects

Francesco Fabiano

Publications and source records attributed to Francesco Fabiano.

At least 19 recordsLinked to original sources

arXiv2026

Dual Process Motion Planning

Robotic systems are deeply embedded in both industry and everyday life, where they are expected to act with speed, precision, and reliability. Classical control and planning methods have long delivered strong guarantees, but often at the cost of computational efficiency and adaptability. More recently, learning-based approaches have shown promise in overcoming these limitations, enabling agents to leverage experience to accelerate decision-making and address previously intractable problems. In this work, we bridge these two approaches through a neuro-symbolic perspective on nonlinear motion planning. Inspired by the Thinking Fast and Slow paradigm, we introduce a dual-process architecture that combines the strengths of robust reasoning and learning. Our framework integrates state-of-the-art symbolic solvers as a ``System-2'' component with experience-driven ``System-1'' modules. A metacognitive controller dynamically orchestrates their interaction, selecting when to rely on fast intuition versus slower, more precise reasoning. By evaluating the framework across diverse nonlinear benchmark environments, we demonstrate that this architecture yields consistent gains in planning efficiency, accuracy, and generalization, while promoting reuse across tasks. The results suggest that tightly coupling learning with structured reasoning offers a scalable path toward more capable and adaptive robotic systems.

cs.AI↗

arXiv2026

Certified Neural Approximations of Nonlinear Dynamics

Neural networks hold great potential to act as approximate models of nonlinear dynamical systems, with the resulting neural approximations enabling verification and control of such systems. However, in safety-critical contexts, the use of neural approximations requires formal bounds on their closeness to the underlying system. To address this fundamental challenge, we propose a novel, adaptive, and parallelizable verification method based on certified first-order models. Our approach provides formal error bounds on the neural approximations of dynamical systems, allowing them to be safely employed as surrogates by interpreting the error bound as bounded disturbances acting on the approximated dynamics. We demonstrate the effectiveness and scalability of our method on a range of established benchmarks from the literature, showing that it significantly outperforms the state of the art. Furthermore, we show that our framework can successfully address additional scenarios previously intractable for existing methods -- neural network compression and an autoencoder-based deep learning architecture for training Koopman operators for the purpose of trajectory prediction.

cs.LG↗

arXiv2026

Robust Shielding for Safe Reinforcement Learning

Shielding is an effective approach to formally guarantee the safety of reinforcement learning agents in Markov decision processes (MDPs). However, existing shielding techniques typically assume knowledge of the safety-relevant transition dynamics - a requirement that is seldom met in practice. To address this limitation, we introduce a novel shielding framework for robust MDPs (RMDPs), i.e., MDPs with sets of transition probabilities. We define safety as the satisfaction of a linear temporal logic (LTL) formula with a certain threshold probability under the worst-case transition probabilities of the RMDP. We prove that our shielding framework is both sound and optimal for the RMDP: every policy admissible by the shield is safe, and conversely, every safe RMDP policy is admissible by the shield. We combine our approach with existing sampling methods for learning transition probabilities of MDPs with probably approximately correct (PAC) guarantees. This combination enables the construction of shields for MDPs that, with high confidence, guarantee safety while remaining minimally restrictive. Our experiments show that our shields for learned RMDPs guarantee safety in unknown MDPs while recovering strong expected return as the number of samples increases.

cs.AI↗

arXiv2026

The Epistemic Planning Domain Definition Language: Official Guideline

Epistemic planning extends (multi-agent) automated planning by making agents' knowledge and beliefs first-class aspects of the planning formalism. One of the most well-known frameworks for epistemic planning is Dynamic Epistemic Logic (DEL), which offers an rich and natural semantics for modelling problems in this setting. The high expressive power provided by DEL make DEL-based epistemic planning a challenging problem to tackle both theoretically, and in practical implementations. As a result, existing epistemic planners often target different DEL fragments, and typically rely on ad hoc languages to represent benchmarks, and sometimes no language at all. This fragmentation hampers comparison, reuse, and systematic benchmark development. We address these issues by introducing the Epistemic Planning Domain Definition Language (EPDDL). EPDDL provides a unique PDDL-like representation that captures the entire DEL semantics, enabling uniform specification of epistemic planning tasks. Our main contributions are: 1. A formal development of abstract event models, a novel representation for epistemic actions used to define the semantics of our language; 2. A formal specification of EPDDL's syntax and semantics grounded in DEL with abstract event models. Through examples of representative benchmarks, we illustrate how EPDDL facilitates interoperability, reproducible evaluation, and future advances in epistemic planning.

cs.AI↗

arXiv2026

Scaling Multi-Agent Epistemic Planning through GNN-Derived Heuristics

Multi-agent Epistemic Planning (MEP) is an autonomous planning framework for reasoning about both the physical world and the beliefs of agents, with applications in domains where information flow and awareness among agents are critical. The richness of MEP requires states to be represented as Kripke structures, i.e., directed labeled graphs. This representation limits the applicability of existing heuristics, hindering the scalability of epistemic solvers, which must explore an exponential search space without guidance, resulting often in intractability. To address this, we exploit Graph Neural Networks (GNNs) to learn patterns and relational structures within epistemic states, to guide the planning process. GNNs, which naturally capture the graph-like nature of Kripke models, allow us to derive meaningful estimates of state quality -- e.g., the distance from the nearest goal -- by generalizing knowledge obtained from previously solved planning instances. We integrate these predictive heuristics into an epistemic planning pipeline and evaluate them against standard baselines, showing improvements in the scalability of multi-agent epistemic planning.

cs.AI↗

arXiv2025

Best-Effort Policies for Robust Markov Decision Processes

We study the common generalization of Markov decision processes (MDPs) with sets of transition probabilities, known as robust MDPs (RMDPs). A standard goal in RMDPs is to compute a policy that maximizes the expected return under an adversarial choice of the transition probabilities. If the uncertainty in the probabilities is independent between the states, known as s-rectangularity, such optimal robust policies can be computed efficiently using robust value iteration. However, there might still be multiple optimal robust policies, which, while equivalent with respect to the worst-case, reflect different expected returns under non-adversarial choices of the transition probabilities. Hence, we propose a refined policy selection criterion for RMDPs, drawing inspiration from the notions of dominance and best-effort in game theory. Instead of seeking a policy that only maximizes the worst-case expected return, we additionally require the policy to achieve a maximal expected return under different (i.e., not fully adversarial) transition probabilities. We call such a policy an optimal robust best-effort (ORBE) policy. We prove that ORBE policies always exist, characterize their structure, and present an algorithm to compute them with a manageable overhead compared to standard robust value iteration. ORBE policies offer a principled tie-breaker among optimal robust policies. Numerical experiments show the feasibility of our approach.

cs.AI↗

arXiv2025

Data2Concept2Text: An Explainable Multilingual Framework for Data Analysis Narration

This paper presents a complete explainable system that interprets a set of data, abstracts the underlying features and describes them in a natural language of choice. The system relies on two crucial stages: (i) identifying emerging properties from data and transforming them into abstract concepts, and (ii) converting these concepts into natural language. Despite the impressive natural language generation capabilities demonstrated by Large Language Models, their statistical nature and the intricacy of their internal mechanism still force us to employ these techniques as black boxes, forgoing trustworthiness. Developing an explainable pipeline for data interpretation would allow facilitating its use in safety-critical environments like processing medical information and allowing non-experts and visually impaired people to access narrated information. To this end, we believe that the fields of knowledge representation and automated reasoning research could present a valid alternative. Expanding on prior research that tackled the first stage (i), we focus on the second stage, named Concept2Text. Being explainable, data translation is easily modeled through logic-based rules, once again emphasizing the role of declarative programming in achieving AI explainability. This paper explores a Prolog/CLP-based rewriting system to interpret concepts-articulated in terms of classes and relations, plus common knowledge-derived from a generic ontology, generating natural language text. Its main features include hierarchical tree rewritings, modular multilingual generation, support for equivalent variants across semantic, grammar, and lexical levels, and a transparent rule-based system. We outline the architecture and demonstrate its flexibility through some examples capable of generating numerous diverse and equivalent rewritings based on the input concept.

cs.LO↗

arXiv2025

Proceedings 40th International Conference on Logic Programming

Since the first conference In Marseille in 1982, the International Conference on Logic Programming (ICLP) has been the premier international event for presenting research in logic programming. These proceedings include technical communications about, and abstracts for presentations given at the 40th ICLP held October 14-17, in Dallas Texas, USA. The papers and abstracts in this volume include the following areas and topics. Formal and operational semantics: including non-monotonic reasoning, probabilistic reasoning, argumentation, and semantic issues of combining logic with neural models. Language design and programming methodologies such as answer set programming. inductive logic programming, and probabilistic programming. Program analysis and logic-based validation of generated programs. Implementation methodologies including constraint implementation, tabling, Logic-based prompt engineering, and the interaction of logic programming with LLMs.

cs.LO↗

arXiv2024

On the Prospects of Incorporating Large Language Models (LLMs) in Automated Planning and Scheduling (APS)

Automated Planning and Scheduling is among the growing areas in Artificial Intelligence (AI) where mention of LLMs has gained popularity. Based on a comprehensive review of 126 papers, this paper investigates eight categories based on the unique applications of LLMs in addressing various aspects of planning problems: language translation, plan generation, model construction, multi-agent planning, interactive planning, heuristics optimization, tool integration, and brain-inspired planning. For each category, we articulate the issues considered and existing gaps. A critical insight resulting from our review is that the true potential of LLMs unfolds when they are integrated with traditional symbolic planners, pointing towards a promising neuro-symbolic approach. This approach effectively combines the generative aspects of LLMs with the precision of classical planning methods. By synthesizing insights from existing literature, we underline the potential of this integration to address complex planning challenges. Our goal is to encourage the ICAPS community to recognize the complementary strengths of LLMs and symbolic planners, advocating for a direction in automated planning that leverages these synergistic capabilities to develop more advanced and intelligent planning systems.

cs.AI↗

arXiv2023

Proceedings 39th International Conference on Logic Programming

This volume contains the Technical Communications presented at the 39th International Conference on Logic Programming (ICLP 2023), held at Imperial College London, UK from July 9 to July 15, 2023. Technical Communications included here concern the Main Track, the Doctoral Consortium, the Application and Systems/Demo track, the Recently Published Research Track, the Birds-of-a-Feather track, the Thematic Tracks on Logic Programming and Machine Learning, and Logic Programming and Explainability, Ethics, and Trustworthiness.

cs.AI↗

arXiv2023

Value-based Fast and Slow AI Nudging

Nudging is a behavioral strategy aimed at influencing people's thoughts and actions. Nudging techniques can be found in many situations in our daily lives, and these nudging techniques can targeted at human fast and unconscious thinking, e.g., by using images to generate fear or the more careful and effortful slow thinking, e.g., by releasing information that makes us reflect on our choices. In this paper, we propose and discuss a value-based AI-human collaborative framework where AI systems nudge humans by proposing decision recommendations. Three different nudging modalities, based on when recommendations are presented to the human, are intended to stimulate human fast thinking, slow thinking, or meta-cognition. Values that are relevant to a specific decision scenario are used to decide when and how to use each of these nudging modalities. Examples of values are decision quality, speed, human upskilling and learning, human agency, and privacy. Several values can be present at the same time, and their priorities can vary over time. The framework treats values as parameters to be instantiated in a specific decision environment.

cs.AI↗

arXiv2023

Understanding the Capabilities of Large Language Models for Automated Planning

Automated planning is concerned with developing efficient algorithms to generate plans or sequences of actions to achieve a specific goal in a given environment. Emerging Large Language Models (LLMs) can answer questions, write high-quality programming code, and predict protein folding, showcasing their versatility in solving various tasks beyond language-based problems. In this paper, we aim to explore how LLMs can also be used for automated planning. To do so, we seek to answer four key questions. Firstly, we want to understand the extent to which LLMs can be used for plan generation. Secondly, we aim to identify which pre-training data is most effective in facilitating plan generation. Thirdly, we investigate whether fine-tuning or prompting is a more effective approach for plan generation. Finally, we explore whether LLMs are capable of plan generalization. By answering these questions, the study seeks to shed light on the capabilities of LLMs in solving complex planning problems and provide insights into the most effective approaches for using LLMs in this context.

cs.AI↗

arXiv2023

Fast and Slow Planning

The concept of Artificial Intelligence has gained a lot of attention over the last decade. In particular, AI-based tools have been employed in several scenarios and are, by now, pervading our everyday life. Nonetheless, most of these systems lack many capabilities that we would naturally consider to be included in a notion of "intelligence". In this work, we present an architecture that, inspired by the cognitive theory known as Thinking Fast and Slow by D. Kahneman, is tasked with solving planning problems in different settings, specifically: classical and multi-agent epistemic. The system proposed is an instance of a more general AI paradigm, referred to as SOFAI (for Slow and Fast AI). SOFAI exploits multiple solving approaches, with different capabilities that characterize them as either fast or slow, and a metacognitive module to regulate them. This combination of components, which roughly reflects the human reasoning process according to D. Kahneman, allowed us to enhance the reasoning process that, in this case, is concerned with planning in two different settings. The behavior of this system is then compared to state-of-the-art solvers, showing that the newly introduced system presents better results in terms of generality, solving a wider set of problems with an acceptable trade-off between solving times and solution accuracy.

cs.AI↗

arXiv2022

Plansformer: Generating Symbolic Plans using Transformers

Large Language Models (LLMs) have been the subject of active research, significantly advancing the field of Natural Language Processing (NLP). From BERT to BLOOM, LLMs have surpassed state-of-the-art results in various natural language tasks such as question answering, summarization, and text generation. Many ongoing efforts focus on understanding LLMs' capabilities, including their knowledge of the world, syntax, and semantics. However, extending the textual prowess of LLMs to symbolic reasoning has been slow and predominantly focused on tackling problems related to the mathematical field. In this paper, we explore the use of LLMs for automated planning - a branch of AI concerned with the realization of action sequences (plans) to achieve a goal, typically executed by intelligent agents, autonomous robots, and unmanned vehicles. We introduce Plansformer; an LLM fine-tuned on planning problems and capable of generating plans with favorable behavior in terms of correctness and length with reduced knowledge-engineering efforts. We also demonstrate the adaptability of Plansformer in solving different planning domains with varying complexities, owing to the transfer learning abilities of LLMs. For one configuration of Plansformer, we achieve ~97% valid plans, out of which ~95% are optimal for Towers of Hanoi - a puzzle-solving domain.

cs.AI↗

arXiv2022

Combining Fast and Slow Thinking for Human-like and Efficient Navigation in Constrained Environments

Current AI systems lack several important human capabilities, such as adaptability, generalizability, self-control, consistency, common sense, and causal reasoning. We believe that existing cognitive theories of human decision making, such as the thinking fast and slow theory, can provide insights on how to advance AI systems towards some of these capabilities. In this paper, we propose a general architecture that is based on fast/slow solvers and a metacognitive component. We then present experimental results on the behavior of an instance of this architecture, for AI systems that make decisions about navigating in a constrained environment. We show how combining the fast and slow decision modalities allows the system to evolve over time and gradually pass from slow to fast thinking with enough experience, and that this greatly helps in decision quality, resource consumption, and efficiency.

cs.AI↗

arXiv2021

Thinking Fast and Slow in AI: the Role of Metacognition

AI systems have seen dramatic advancement in recent years, bringing many applications that pervade our everyday life. However, we are still mostly seeing instances of narrow AI: many of these recent developments are typically focused on a very limited set of competencies and goals, e.g., image interpretation, natural language processing, classification, prediction, and many others. Moreover, while these successes can be accredited to improved algorithms and techniques, they are also tightly linked to the availability of huge datasets and computational power. State-of-the-art AI still lacks many capabilities that would naturally be included in a notion of (human) intelligence. We argue that a better study of the mechanisms that allow humans to have these capabilities can help us understand how to imbue AI systems with these competencies. We focus especially on D. Kahneman's theory of thinking fast and slow, and we propose a multi-agent AI architecture where incoming problems are solved by either system 1 (or "fast") agents, that react by exploiting only past experience, or by system 2 (or "slow") agents, that are deliberately activated when there is the need to reason and search for optimal solutions beyond what is expected from the system 1 agent. Both kinds of agents are supported by a model of the world, containing domain knowledge about the environment, and a model of "self", containing information about past actions of the system and solvers' skills.

cs.AI↗

arXiv2021

Comprehensive Multi-Agent Epistemic Planning

Over the last few years, the concept of Artificial Intelligence has become central in different tasks concerning both our daily life and several working scenarios. Among these tasks automated planning has always been central in the AI research community. In particular, this manuscript is focused on a specialized kind of planning known as Multi-agent Epistemic Planning (MEP). Epistemic Planning (EP) refers to an automated planning setting where the agent reasons in the space of knowledge/beliefs states and tries to find a plan to reach a desirable state from a starting one. Its general form, the MEP problem, involves multiple agents who need to reason about both the state of the world and the information flows between agents. To tackle the MEP problem several tools have been developed and, while the diversity of approaches has led to a deeper understanding of the problem space, each proposed tool lacks some abilities and does not allow for a comprehensive investigation of the information flows. That is why, the objective of our work is to formalize an environment where a complete characterization of the agents' knowledge/beliefs interaction and update is possible. In particular, we aim to achieve such goal by defining a new action-based language for multi-agent epistemic planning and to implement an epistemic planner based on it. This solver should provide a tool flexible enough to reason on different domains, e.g., economy, security, justice and politics, where considering others' knowledge/beliefs could lead to winning strategies.

cs.MA↗

arXiv2021

E-PDDL: A Standardized Way of Defining Epistemic Planning Problems

Epistemic Planning (EP) refers to an automated planning setting where the agent reasons in the space of knowledge states and tries to find a plan to reach a desirable state from the current state. Its general form, the Multi-agent Epistemic Planning (MEP) problem involves multiple agents who need to reason about both the state of the world and the information flow between agents. In a MEP problem, multiple approaches have been developed recently with varying restrictions, such as considering only the concept of knowledge while not allowing the idea of belief, or not allowing for ``complex" modal operators such as those needed to handle dynamic common knowledge. While the diversity of approaches has led to a deeper understanding of the problem space, the lack of a standardized way to specify MEP problems independently of solution approaches has created difficulties in comparing performance of planners, identifying promising techniques, exploring new strategies like ensemble methods, and making it easy for new researchers to contribute to this research area. To address the situation, we propose a unified way of specifying EP problems - the Epistemic Planning Domain Definition Language, E-PDDL. We show that E-PPDL can be supported by leading MEP planners and provide corresponding parser code that translates EP problems specified in E-PDDL into (M)EP problems that can be handled by several planners. This work is also useful in building more general epistemic planning environments where we envision a meta-cognitive module that takes a planning problem in E-PDDL, identifies and assesses some of its features, and autonomously decides which planner is the best one to solve it.

cs.AI↗