497 citations · 2.1k across the 297 of their papers we have counts for
5 papers · 2 filters
Multiple Plans are Better than One: Diverse Stochastic Planning
Mahsa Ghasemi, Evan Scope Crafts, Bo Zhao +1
In planning problems, it is often challenging to fully model the desired specifications. In particular, in human-robot interaction, such difficulty may arise due to human's prefere…
Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations
Tichakorn Wongpiromsarn, Konstantin Slutsky, Emilio Frazzoli +1
This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the conc…
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Binghan He, Jaemin Lee, Ufuk Topcu +1
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for…
Near-Optimal Reactive Synthesis Incorporating Runtime Information
Suda Bharadwaj, Abraham P. Vinod, Rayna Dimitrova +1
We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We i…
Active Task-Inference-Guided Deep Inverse Reinforcement Learning
Farzan Memarian, Zhe Xu, Bo Wu +2
We consider the problem of reward learning for temporally extended tasks. For reward learning, inverse reinforcement learning (IRL) is a widely used paradigm. Given a Markov decisi…