Behavior Trees (BTs) are widely adopted for complex task execution in robotics, providing modular, reactive control but lacking formal guarantees. However, existing correct-by-construction synthesis from Linear Temporal Logic (LTL) cannot express quantitative timing constraints. This letter synthesizes correct-by-construction BTs from Signal Temporal Logic (STL) specifications. The workspace is modeled as a timed transition system and abstracted into a zone graph, and an augmented state space tracking both logical progress and timing constraints is introduced. A hierarchical fixed-point algorithm computes winning sets for an STL fragment encompassing safety, reachability, response, recurrence, and persistence, yielding BT subtrees with a runtime constraint function. Correctness guarantees are proven and complexity bounds are derived. Simulations demonstrate specification satisfaction with strictly positive robustness, and a physical quadrotor experiment with six STL specifications validates practical deployability.
Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-tactile robot learning remains difficult because real tactile interaction data are expensive to coll…
Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this capability to 4D dynamic understanding remains a fundamental challenge. Most existing motion perception methods (e.g., sparse tracking, dense point-wise flow) treat motio…
In production processes for consumer products, assembly instructions are essential not only for planning but also for executing the production process. Likewise in robotics, it is crucial for an assembly robot to understand how components fit together and can be assembled. To fac…
Accurate yet low-latency depth is essential for radar-camera perception in autonomous systems. Cameras provide rich appearance but lack metric scale, whereas automotive radar offers metric range but is sparse and noisy. Many pipelines are multi-stage or depend on auxiliary annota…
Action-conditioned video world models predict future observations from an initial observation and an action signal. In robotics, actions influence future observations through two distinct processes: they are first realized into robot motion by the robot body and controller, and t…
The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with standardized joint and Cartesian command interfaces. It addresses a key limitation of existing control software: no reusable infrastructure for implementing compliant-contr…