44 citations · 46 across the 8 of their papers we have counts for
3 papers · 1 filter
Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition
Taylor Bergeron, Zachary Serlin, Kevin Leahy
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement lea…
Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications
Mingyu Cai, Makai Mann, Zachary Serlin +2
This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-…
Sampling-based Motion Planning via Control Barrier Functions
Guang Yang, Bee Vang, Zachary Serlin +2
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion p…