One paper accepted to CoRL Workshop on Learning Effective Abstractions for Planning (LEAP)
•
Sep. 2023:
One paper accepted to IROS Workshop on Formal Methods Techniques in Robotics Systems: Design and Control
•
Apr. 2023:
Joined Intelligent Control Lab (ICL) as a Postdoctoral Fellow
Research
My research agenda is centered on building assured and scalable autonomy via logic,
control, and learning by building on knowledge from the fields of system and control,
machine learning/AI, and formal methods. My research philosophy is to
leverage mathematical structure and data-informed analysis to establish new algorithms and
theorems that make AI-enabled autonomy dependable in the real world.
A recurring theme throughout my work is scalability: I strive to deliver solutions
that handle richer task descriptions, high-dimensional sensor data, and ever larger teams of
robots. These contributions organize into three thrusts:
Formal, temporally extended task specifications: designing rigorous and expressive formal specification for a
rich set of goals, constraints, and preferences that capture human instructions while remaining
use-friendly (CDC 2020,
T-RO 2022,
T-RO 2025,
Arxiv 2025).
Correct-by-construction planning and control: automatically synthesizing
provably-correct planners and controllers for multi-robot systems under high-level task
specifications (CDC 2019,
T-RO 2021,
T-RO 2022,
RA-L 2024,
T-RO 2025,
RSS 2025).
Data-driven verification and certification: devising techniques that quantify and
guarantee the safety and reliability of learning-enabled, safety critical autonomous
systems (Automatica 2021,
T-CPS 2025,
CAV 2025).
Publications
Representative papers are highlighted (* denotes equal contribution).
Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications Xusheng Luo,
Changliu Liu
IEEE Transaction on Robotics (TRO), 2025
ICRA Workshop on Robot safety, 2025 PDF
/
Video
/
Code
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei*,
Xusheng Luo*, Changliu Liu
Robotics: Science and Systems (RSS), 2025
PDF
/
Video
/
Code
Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods Xusheng Luo,
Tianhao Wei,
Simin Liu,
Ziwei Wang,
Luis Mattei-Mendez, Taylor Loper, Joshua Neighbor, Casidhe Hutchison,
Changliu Liu
ACM Transaction on Cyber-Physical Systems (T-CPS), 2025
ICRA Workshop on Public Trust in Autonomous Systems (PTAS), 2025 PDF
ModelVerification. jl: a Comprehensive Toolbox for Formally Verifying Deep Neural Networks
Tianhao Wei,
Luca Marzari,
Kai S. Yun,
Hanjiang Hu,
Peizhi Niu,
Xusheng Luo,
Changliu Liu
International Conference on Computer Aided Verification (CAV), 2025
PDF
/
Code
NL2HLTL2PLAN: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
Shaojun Xu*, Xusheng Luo*, Yutong Huang, Letian Leng,
Ruixuan Liu,
Changliu Liu
CoRL Workshop on Learning Effective Abstractions for Planning (LEAP) , 2023
arXiv , 2024
PDF
/
Project Page
Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications Xusheng Luo, Shaojun Xu,
Ruixuan Liu,
Changliu Liu
IEEE Robotics and Automation Letters (RA-L), 2024, with presentation at ICRA 2025
IROS Workshop on Formal Methods Techniques in Robotics Systems: Design and Control , 2023
PDF
/
Video
/
Code
Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Ruixuan Liu, Alan Chen, Xusheng Luo,
Changliu Liu
arXiv , 2023
PDF
/
Video
Temporal Logic Task Allocation in Heterogeneous Multi-robot Systems Xusheng Luo,
Michael M Zavlanos
IEEE Transactions on Robotics (T-RO), 2022
PDF
/
Extended version
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Code
Formal Verification of Stochastic Systems with ReLU Neural Network Controller
Shiqi Sun,
Yan Zhang,
Xusheng Luo, Panagiotis Vlantis,
Miroslav Pajic,
Michael M Zavlanos
ICRA, 2022
PDF
An abstraction-free Method for Multi-robot Temporal Logic Optimal Control Synthesis Xusheng Luo,
Yiannis Kantaros,
Michael M Zavlanos
IEEE Transactions on Robotics (T-RO), 2021
PDF
/
Code
An optimal Graph-Search Method for Secure State Estimation Xusheng Luo,
Miroslav Pajic,
Michael M Zavlanos
Automatica, 2021
PDF
Human-in-the-loop Robot Planning with Non-contextual Bandit Feedback
Yijie Zhou,
Yan Zhang,
Xusheng Luo,
Michael M Zavlanos
IEEE Conference on Decision and Control (CDC), 2021
PDF
Socially-aware Robot Planning via Bandit Human Feedback Xusheng Luo*,
Yan Zhang*,
Michael M Zavlanos
ACM International Conference on Cyber-Physical Systems (ICCPS), 2020
PDF
Single-agent Indirect Herding of Multiple Targets using Metric Temporal Logic Switching
Duc Le,
Xusheng Luo,
Leila J. Bridgeman,
Michael M Zavlanos,
Warren E. Dixon
IEEE Conference on Decision and Control (CDC), 2020
PDF
Transfer Planning for Temporal Logic Tasks Xusheng Luo,
Michael M Zavlanos
IEEE Conference on Decision and Control (CDC), 2019
PDF