3 papers
cs.RO2026
Robustness-Based Synthesis for Time Window Temporal Logic Specifications via Mixed-Integer Linear Programming
Philip Smith, Ahmad Ahmad, Kevin Leahy
Time Window Temporal Logic (TWTL) is a rich specification language for cyber-physical systems that can compactly express sequential tasks with explicit timing constraints. In this…
cs.RO2026
RRT: Sampling-based Motion Planning and Control from STL Specifications using Arithmetic-Geometric Mean Robustness
Ahmad Ahmad, Shuo Liu, Roberto Tron +1
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Te…
cs.LG2024
Accelerating Proximal Policy Optimization Learning Using Task Prediction for Solving Environments with Delayed Rewards
Ahmad Ahmad, Mehdi Kermanshah, Kevin Leahy +6
In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradien…