3 papers
cs.RO2022
Physically-Feasible Repair of Reactive, Linear Temporal Logic-based, High-Level Tasks
Adam Pacheck, Hadas Kress-Gazit
A typical approach to creating complex robot behaviors is to compose atomic controllers, or skills, such that the resulting behavior satisfies a high-level task; however, when a ta…
cs.RO2022
Automatic Encoding and Repair of Reactive High-Level Tasks with Learned Abstract Representations
Adam Pacheck, Steven James, George Konidaris +1
We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Te…
cs.RO2021
Learning and Planning for Temporally Extended Tasks in Unknown Environments
Christopher Bradley, Adam Pacheck, Gregory J. Stein +3
We propose a novel planning technique for satisfying tasks specified in temporal logic in partially revealed environments. We define high-level actions derived from the environment…