Related papers: Using SyGuS to Synthesize Reactive Motion Plans
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Regular expressions are pervasive in modern systems. Many real-world regular expressions are inefficient, sometimes to the extent that they are vulnerable to complexity-based attacks, and while much research has focused on detecting…
Program synthesis is the task of automatically generating code based on a specification. In Syntax-Guided Synthesis (SyGuS) this specification is a combination of a syntactic template and a logical formula, and the result is guaranteed to…
In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placement sequences that minimize both replanning per object and…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…
Syntax-Guided Synthesis (SyGuS) is the computational problem of finding an implementation f that meets both a semantic constraint given by a logical formula $\varphi$ in a background theory T, and a syntactic constraint given by a grammar…
Syntax-guided synthesis (SyGuS) is a recently proposed framework for program synthesis problems. The SyGuS problem is to find an expression or program generated by a given grammar that meets a correctness specification. Correctness…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero-sum game where the goal is to synthesize a winning…
We study the problem of synthesizing programs from nonlinear real arithmetic (NRA) specifications. Existing techniques, such as syntax-guided synthesis (SyGuS), fail to synthesize programs when the specification is unrealizable. We argue…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Proving Unrealizability for Syntax-Guided Synthesis We consider the problem of automatically establishing that a given syntax-guided-synthesis (SyGuS) problem is unrealizable (i.e., has no solution). Existing techniques have quite limited…
In the formal approach to reactive controller synthesis, a symbolic controller for a possibly hybrid system is obtained by algorithmically computing a winning strategy in a two-player game. Such game-solving algorithms scale poorly as the…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
In this thesis, the synthesis of correct-by-construction controllers for robots assisting in Search and Rescue (SAR) is considered. In recent years, the development of robots assisting in disaster mitigation in urban environments has been…
Reactive synthesis is a paradigm for automatically building correct-by-construction systems that interact with an unknown or adversarial environment. We study how to do reactive synthesis when part of the specification of the system is that…
Programming-by-example (PBE) is a synthesis paradigm that allows users to generate functions by simply providing input-output examples. While a promising interaction paradigm, synthesis is still too slow for realtime interaction and more…