Online Modifications for Event-based Signal Temporal Logic Specifications
A Cornell framework lets an operator modify Event-based STL task specifications during execution and was physically demonstrated on Hello Robot Stretch.
Why it matters
In this paper we present a grammar and control synthesis framework for online modification of Event-based Signal Temporal Logic (STL) specifications, during execution. These modifications allow a user to change the robots' task in response to potential future violations, changes to the environment, or user-defined task design changes.
Evidence notes
- The physical setup uses Stretch as a mobile manipulator to pick objects from known locations and deliver them to known depots in a laboratory.
- One runtime modification adds 15 seconds after a pre-failure warning so Stretch can reach the object without violating the specification.
- Other demonstrations change the target object, retract the arm further, add obstacle avoidance and allow an alternate delivery depot.
Company context
Hello Robot builds Stretch, a lightweight open-source mobile manipulator designed for researchers, developers, application engineers and assistive robotics use. The company focuses on practical human-centered mobile manipulation rather than humanoid form factors, with hardware designed for homes, labs and workplaces.