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

2026-10-07 15:45:46
Chiyoung Kim, Seungyeon Back, Sumin Shim, Doyoung Heo, Rita Singh
arXiv_RO
         
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.

Abstract (translated)

URL

https://arxiv.org/abs/2610.10281

PDF

https://arxiv.org/pdf/2610.10281.pdf

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