Making Task Abstractions Executable: Control-Aware Layout Repair for a Fixed Controller

Abstract:A task abstraction can specify the intended events while its spatial layout prevents a fixed agent and controller from completing them. Starting from a supplied structured task record, we compile whole-task tracking, clearance, and actuation requirements into auditable affine layout constraints. We repair only declared continuous coordinates, preserving event order, timing, topology, and the controller. A most-violated-row update admits conditional finite-certification and net-displacement bounds; a same-compiler quadratic projection separates the representation from the optimizer. On three researcher-authored task abstractions, both backends certify all three layouts and complete all 300 fresh paired rollouts per backend. A risk-target sweep also exposes fixed event tests that the chosen certificate cannot satisfy through layout edits alone.

Robotics (cs.RO)

arXiv:2610.10281 [cs.RO]

(or arXiv:2610.10281v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.10281 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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