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cs.RO2026
Conditional Timed Partial Orders: An Expressive and Interpretable Framework for Robot Task Specification and Planning
Sebastian Escobar, Morteza Lahijanian
Timed Partial Orders (TPOs), originally proposed for workflows, provide an interpretable framework for robot task specification with planning algorithms based on mixed-integer line…
cs.RO2026
Learning specifications for reactive synthesis with safety constraints
Kandai Watanabe, Nicholas Renninger, Sriram Sankaranarayanan +1
This paper presents a novel approach to learning from demonstration that enables robots to autonomously execute complex tasks in dynamic environments. We model latent tasks as prob…
cs.RO2024
Optimal Planning for Timed Partial Order Specifications
Kandai Watanabe, Georgios Fainekos, Bardh Hoxha +3
This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence…