4 papers
Iterative Program Synthesis for Adaptable Social Navigation
Jarrett Holtz, Simon Andrews, Arjun Guha +1
Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-ar…
Robot Action Selection Learning via Layered Dimension Informed Program Synthesis
Jarrett Holtz, Arjun Guha, Joydeep Biswas
Action selection policies (ASPs), used to compose low-level robot skills into complex high-level tasks are commonly represented as neural networks (NNs) in the state of the art. Su…
SMT-based Robot Transition Repair
Jarrett Holtz, Arjun Guha, Joydeep Biswas
State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct val…
Interactive Robot Transition Repair With SMT
Jarrett Holtz, Arjun Guha, Joydeep Biswas
Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on phys…