Realizability Is Not Enough: Encoding, Liveness, and Auditing of Synthesized Robot Supervisors

arXiv:2609.30460 · cs.RO, cs.LO · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.LO

Submitted: 2026-09-24

Updated: 2026-09-24

Code: https://github.com/CNURobotics/flexbe_synthesis

Terminology

• Core — 48× in this paper · explained in 2 episodes
• Abstraction — 21× in this paper · explained in 1 episode
• Pruning — 19× in this paper · explained in 4 episodes
• Trace — 18× in this paper · explained in 2 episodes
• Verification — 9× in this paper · explained in 2 episodes
• Analyzer — 5× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Formal Methods — 3× in this paper · explained in 3 episodes
• Alternation — 2× in this paper · explained in 1 episode
• Formal Verification — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Planning Domain Definition Language — 2× in this paper
• Robot Operating System — 2× in this paper
• Verifier — 2× in this paper · explained in 2 episodes
• alpha — 2× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Conference on Decision and Control — 1× in this paper
• EMMA — 1× in this paper · explained in 2 episodes
• Entanglement — 1× in this paper · explained in 4 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Linear Temporal Logic — 1× in this paper
• Linear Temporal Logic (LTL) — 1× in this paper · explained in 4 episodes
• Methods and Models in Automation and Robotics — 1× in this paper
• Signal Temporal Logic (STL) — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving