Related papers: Dynamic Hierarchical Reactive Controller Synthesis
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
This paper develops a game-theoretic decision-making framework for autonomous driving in multi-agent scenarios. A novel hierarchical game-based decision framework is developed for the ego vehicle. This framework features an interaction…
We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles…
Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller output is defined as a linear combination of a small set of…
Automated flowsheet synthesis is an important field in computer-aided process engineering. The present work demonstrates how reinforcement learning can be used for automated flowsheet synthesis without any heuristics of prior knowledge of…
Most approaches to the synthesis of reactive systems study the problem in terms of a two-player game with complete observation. In many applications, however, the system's environment consists of several distinct entities, and the system…
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…
Multi-dimensional mean-payoff and energy games provide the mathematical foundation for the quantitative study of reactive systems, and play a central role in the emerging quantitative theory of verification and synthesis. In this work, we…
What is a useful skill hierarchy for an autonomous agent? We propose an answer based on a graphical representation of how the interaction between an agent and its environment may unfold. Our approach uses modularity maximisation as a…
The generation of synthetic data is an essential tool to study complex systems, allowing for example to test models of these in precisely controlled settings, or to parametrize simulation models when data is missing. This paper focuses on…
Reactive synthesis, the problem of automatically constructing a hardware circuit from a logical specification, is a long-standing challenge in formal verification. It is elusive for two reasons: It is algorithmically hard, and writing…
Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…
Given a set of interacting components with non-deterministic variable update and given safety requirements, the goal of priority synthesis is to restrict, by means of priorities, the set of possible interactions in such a way as to…
Generating diverse and natural human motion is one of the long-standing goals for creating intelligent characters in the animated world. In this paper, we propose a self-supervised method for generating long-range, diverse and plausible…
When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given. The task of designing…
Recently, deep reinforcement learning (DRL) methods have achieved impressive performance on tasks in a variety of domains. However, neural network policies produced with DRL methods are not human-interpretable and often have difficulty…
Given a set of interacting components with non-deterministic variable update and given safety requirements, the goal of priority synthesis is to restrict, by means of priorities, the set of possible interactions in such a way as to…
Heterogeneous graphs are present in various domains, such as social networks, recommendation systems, and biological networks. Unlike homogeneous graphs, heterogeneous graphs consist of multiple types of nodes and edges, each representing…
Synthetic data generation has been a growing area of research in recent years. However, its potential applications in serious games have not been thoroughly explored. Advances in this field could anticipate data modelling and analysis, as…
The synthesis of reactive systems from linear temporal logic (LTL) specifications is an important aspect in the design of reliable software and hardware. We present our adaption of the classic automata-theoretic approach to LTL synthesis,…