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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.RO2024
Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition
Taylor Bergeron, Zachary Serlin, Kevin Leahy
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement lea…
cs.RO2024
Tell Me What You Want (What You Really, Really Want): Addressing the Expectation Gap for Goal Conveyance from Humans to Robots
Kevin Leahy, Ho Chit Siu
Conveying human goals to autonomous systems (AS) occurs both when the system is being designed and when it is being operated. The design-step conveyance is typically mediated by ro…