Related papers: Near-Optimal Reactive Synthesis Incorporating Runt…

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…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

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…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

In nonstationary bandit learning problems, the decision-maker must continually gather information and adapt their action selection as the latent state of the environment evolves. In each time period, some latent optimal action maximizes…

Metric Temporal Logic can express temporally evolving properties with time-critical constraints or time-triggered constraints for real-time systems. This paper extends the Metric Interval Temporal Logic with a distribution eventuality…

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneous foothold selection--compromising safety and…

The hidden-action model captures a fundamental problem of principal-agent theory and provides an optimal sharing rule when only the outcome but not the effort can be observed. However, the hidden-action model builds on various explicit and…

This paper considers online optimization for a system that performs a sequence of back-to-back tasks. Each task can be processed in one of multiple processing modes that affect the duration of the task, the reward earned, and an additional…

Models that can simulate how environments change in response to actions can be used by agents to plan and act efficiently. We improve on previous environment simulators from high-dimensional pixel observations by introducing recurrent…

Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equally valid goals, or a range of acceptable goals with a…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

We show how to automatically construct a system that satisfies a given logical specification and has an optimal average behavior with respect to a specification with ratio costs. When synthesizing a system from a logical specification, it…

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…

Specifications for reactive systems often consist of environment assumptions and system guarantees. An implementation should not only be correct, but also robust in the sense that it behaves reasonably even when the assumptions are…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…