arXiv subjects

John Woods

Publications and source records attributed to John Woods.

5 recordsLinked to original sources

arXiv2026

SkillComposer: Learning Reusable Skills for Natural-Language Robot Programming

Natural-language interfaces can lower the barrier to programming robots, but existing systems struggle when users request complex tasks. While large language models (LLMs) perform well with simple commands, they often struggle to generate code for multi-step tasks, decompose high-level instructions, or reuse prior solutions. We present SkillComposer, an interactive natural-language robot programming system for simulation environments that continually learns reusable program abstractions. SkillComposer uses a generate-test architecture in which an LLM iteratively generates and revises robot programs before execution. Successful programs are stored and processed by an online library-learning algorithm that compresses recurring function sequences into reusable macro skills for future tasks. We evaluate SkillComposer through ablation experiments and a user study with 12 participants to determine its effectiveness on manipulation and robot caregiving tasks. The results show that evaluator-guided generation and learned abstractions improve success rates and usability while reducing user effort in natural-language robot programming.

cs.RO↗

arXiv2025

Efficient Environment Design for Multi-Robot Navigation via Continuous Control

Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its real-world application has been limited due to sample inefficiency and long training periods. Moreover, the existing works using RL for multi-robot navigation lack formal guarantees while designing the environment. In this paper, we introduce an efficient and highly customizable environment for continuous-control multi-robot navigation, where the robots must visit a set of regions of interest (ROIs) by following the shortest paths. The task is formally modeled as a Markov Decision Process (MDP). We describe the multi-robot navigation task as an optimization problem and relate it to finding an optimal policy for the MDP. We crafted several variations of the environment and measured the performance using both gradient and non-gradient based RL methods: A2C, PPO, TRPO, TQC, CrossQ and ARS. To show real-world applicability, we deployed our environment to a 3-D agricultural field with uncertainties using the CoppeliaSim robot simulator and measured the robustness by running inference on the learned models. We believe our work will guide the researchers on how to develop MDP-based environments that are applicable to real-world systems and solve them using the existing state-of-the-art RL methods with limited resources and within reasonable time periods.

cs.RO↗

arXiv2024

Unifying Interpretability and Explainability for Alzheimer's Disease Progression Prediction

Reinforcement learning (RL) has recently shown promise in predicting Alzheimer's disease (AD) progression due to its unique ability to model domain knowledge. However, it is not clear which RL algorithms are well-suited for this task. Furthermore, these methods are not inherently explainable, limiting their applicability in real-world clinical scenarios. Our work addresses these two important questions. Using a causal, interpretable model of AD, we first compare the performance of four contemporary RL algorithms in predicting brain cognition over 10 years using only baseline (year 0) data. We then apply SHAP (SHapley Additive exPlanations) to explain the decisions made by each algorithm in the model. Our approach combines interpretability with explainability to provide insights into the key factors influencing AD progression, offering both global and individual, patient-level analysis. Our findings show that only one of the RL methods is able to satisfactorily model disease progression, but the post-hoc explanations indicate that all methods fail to properly capture the importance of amyloid accumulation, one of the pathological hallmarks of Alzheimer's disease. Our work aims to merge predictive accuracy with transparency, assisting clinicians and researchers in enhancing disease progression modeling for informed healthcare decisions. Code is available at https://github.com/rfali/xrlad.

cs.LG↗

arXiv2013

Survey on QoE\QoS Correlation Models For Multimedia Services

This paper presents a brief review of some existing correlation models which attempt to map Quality of Service (QoS) to Quality of Experience (QoE) for multimedia services. The term QoS refers to deterministic network behaviour, so that data can be transported with a minimum of packet loss, delay and maximum bandwidth. QoE is a subjective measure that involves human dimensions; it ties together user perception, expectations, and experience of the application and network performance. The Holy Grail of subjective measurement is to predict it from the objective measurements; in other words predict QoE from a given set of QoS parameters or vice versa. Whilst there are many quality models for multimedia, most of them are only partial solutions to predicting QoE from a given QoS. This contribution analyses a number of previous attempts and optimisation techniquesthat can reliably compute the weighting coefficients for the QoS/QoE mapping.

cs.MM↗

arXiv2006

A Quantum Logic of Down Below

This chapter is offered as a contribution to the logic of down below. We attempt to demonstrate that the nature of human agency necessitates that there actually be such a logic. The ensuing sections develop the suggestion that cognition down below has a structure strikingly similar to the physical structure of quantum states. In its general form, this is not an idea that originates with the present authors. It is known that there exist mathematical models from the cognitive science of cognition down below that have certain formal similarities to quantum mechanics. We want to take this idea seriously. We will propose that the subspaces of von Neumann-Birkhoff lattices are too crisp for modelling requisite cognitive aspects in relation to subsymbolic logic. Instead, we adopt an approach which relies on projections into nonorthogonal density states. The projection operator is motivated from cues which probe human memory.

quant-ph↗