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About this paper
Sayem Nazmuz Zaman, Cyrus Neary
This work presents Synchronous Action Monitoring with Token Destruction (SAM-TD), the first method to compile and enforce arbitrary Linear Temporal Logic over finite traces (LTLf) specifications within stream-based robotics Task and Motion Planning (TAMP) frameworks. It achieves linear scaling in compilation time and avoids ground operator explosion while ensuring adherence to temporal constraints in dynamic object environments.
Key insights
- It is possible to enforce arbitrary LTLf constraints in stream-based TAMP by compiling monitors into lifted action schemas without modifying the core planning algorithm.
- Embedding constraint violations as conditional effects that destroy a global 'Valid' token is crucial for maintaining computational tractability, preventing exponential growth in ground action operators that would occur with precondition-based blocking.
- Early pruning of constraint-violating branches, before costly geometric sampling, can be achieved by leveraging standard delete-relaxation heuristics on the 'Valid' fluent.
Summary by alphaXiv.
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