Related papers: Using SyGuS to Synthesize Reactive Motion Plans
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
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…
We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available…
We consider the mobile robot path planning problem for a class of recurrent reachability objectives. These objectives are parameterized by the expected time needed to visit one position from another, the expected square of this time, and…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by…
Program synthesis has seen many new applications in recent years, in large part thanks to the introduction of SyGuS. However, no existing SyGuS solvers have support for synthesizing recursive functions. We introduce an multi-phase algorithm…
This paper proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called $\text{STyLuS}^{*}$ for large-Scale optimal Temporal Logic Synthesis, that is designed to…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
This paper develops a new framework for program synthesis, called semantics-guided synthesis (SemGuS), that allows a user to provide both the syntax and the semantics for the constructs in the language. SemGuS accepts a recursively defined…
We propose a machine learning framework to synthesize reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration, two-player games over (potentially) infinite graphs. Our…
Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an obstacle could be in. Unfortunately, this can result in…
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies,…
The classical formulation of the program-synthesis problem is to find a program that meets a correctness specification given as a logical formula. Syntax-guided synthesis (SyGuS) is a standardized format for specifying the correctness…
In syntax-guided synthesis (SyGuS), a synthesizer's goal is to automatically generate a program belonging to a grammar of possible implementations that meets a logical specification. We investigate a common limitation across…
This paper presents a method for synthesizing a reactive program which coordinates the actions of a group of other reactive programs, so that the combined system satisfies a temporal specification of its desired long-term behavior.…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
We propose a real-time method for reactive motion synthesis based on the known trajectory of input character, predicting instant reactions using only historical, user-controlled motions. Our method handles the uncertainty of future…
Syntax-Guided Synthesis (SyGuS) is the computational problem of finding an implementation f that meets both a semantic constraint given by a logical formula phi in a background theory T, and a syntactic constraint given by a grammar G,…