4 papers
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit +1
We present an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing methods often depend on heuristics for real-time foo…
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit +1
We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneo…
INPROVF: Leveraging Large Language Models to Repair High-level Robot Controllers from Assumption Violations
Qian Meng, Jin Peng Zhou, Kilian Q. Weinberger +1
This paper presents INPROVF, an automatic framework that combines large language models (LLMs) and formal methods to speed up the repair process of high-level robot controllers. Pr…
Automated Robot Recovery from Assumption Violations of High-Level Specifications
Qian Meng, Hadas Kress-Gazit
This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous…