用可接受性替代必胜性，让机器人在无法取胜时仍能合理尝试任务。
Admissibility Over Winning: A New Approach to Reactive Synthesis in Robotics
- 引入可接受策略排序，定义更灵活的机器人行为准则。
- 在无法必胜时仍能保持非违规且有希望的行为，避免完全放弃。
- 适用于需持续尝试的任务场景，如自动驾驶、服务机器人。
反应式综合是一种用于建模和自动生成机器人策略的框架，通常通过计算机器人与环境之间的两人博弈中的‘必胜’策略来实现。然而，即使在一些简单情况下，必胜策略也可能不存在。此时，让机器人仍尝试完成任务比彻底放弃更可取。本文提出以‘可接受性’为核心概念，拓展必胜策略的边界，专为机器人系统设计。我们引入可接受策略的排序，并定义了‘可接受理性策略’——当可能时追求必胜与合作，当必要时则保持非违规且抱有希望。我们提出了高效的合成算法，并通过案例研究证明，此类策略能生成理想的行为表现。
原文摘要 · Abstract (English)
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game between the robot and the environment. Winning strategies, however, do not always exist, even in some simple cases. In such situations, it is still desirable for the robot to attempt its task rather than "giving up". In this work, we explore the notion of admissibility to define strategies beyond winning, tailored specifically for robotic systems. We introduce an ordering of admissible strategies and define \emph{admissibly rational strategies}, which aim to be winning and cooperative when possible, and non-violating and hopeful when necessary. We present an efficient synthesis algorithm and demonstrate that admissibly rational strategies produce desirable behaviors through case studies.
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