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[Submitted on 24 Sep 2026] Title:Realizability Is Not Enough: Encoding, Liveness, and Auditing of Synthesized Robot Supervisors View a PDF of the paper titled Realizability Is Not Enough: Encoding, Liveness, and Auditing of Synthesized Robot Supervisors, by David C. Conner and 9 other authors View PDF HTML (experimental) Abstract:High-level robotic supervisors coordinate capabilities whose reported outcomes determine the robot's next action. Reactive synthesis can generate such supervisors with formal guarantees, but deployment requires more than proving a Generalized Reactivity (1) (GR(1)) specification realizable. Designers must encode failure-prone capabilities, choose liveness assumptions that match retry intent, audit strategies, and translate them into robot software. We present an open-source pipeline for Robot Operating System (ROS) 2 Flexible Behavior Engine (FlexBE) supervisors that generates capability-based GR(1) specifications, analyzes assumptions before synthesis, audits strategies, reduces states with a behavior-preservation proof, and emits executable state machines. Across four case studies (six comparisons), including hardware on two quadcopter platforms, we compare enumerated and one-hot encodings and two liveness formulations. Under the tested backend, enumerated encoding usually synthesizes faster, although fewer propositions do not reliably predict smaller controllers or lower symbolic cost. System-Goal without pending memory is the only liveness treatment confirmed to yield executable controllers under both encodings across the reported grid; Fair-Outcome can permit realizable cycles without designer-intended completion. For this backend and model, we recommend enumerated encoding with System-Goal and auditing every realized strategy, since proposition count and realizability do not measure deployability. The auditor is sound and complete for four structural defect classes (protocol violations, deadlocks, bounded-failure violations, goal-unreachable traps) but is not a general liveness verifier, and the reduction preserves capability-level behavior. Together, these stages narrow the gap between formal realizability and controllers that pass protocol and structural-progress checks. Comments: 88 pages, 14 figures. Includes detailed technical appendices and experimental results for four application domains Subjects: Robotics (cs.RO); Logic in Computer Science (cs.LO) MSC classes: 68T40, 68Q60, 93C65 ACM classes: I.2.9; D.2.4; F.3.1 Cite as: arXiv:2609.30460 [cs.RO] (or arXiv:2609.30460v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.30460 arXiv-issued DOI via DataCite (pending registration) Submission history From: David Conner [view email] [v1] Thu, 24 Sep 2026 18:51:13 UTC (10,241 KB) Full-text links: Access Paper: View a PDF of the paper titled Realizability Is Not Enough: Encoding, Liveness, and Auditing of Synthesized Robot Supervisors, by David C. Conner and 9 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.LO References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)