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Acting is an important decisional function for autonomous robots. Acting relies on skills to implement and to model the activities it oversees: refinement, local recovery, temporal dispatching, external asynchronous events, and commands…
Industry abounds with interactive configuration problems, i.e., constraint solving problems interactively solved by persons with the assistance of a computer. The computer program, called a configurator, needs to perform a variety of…
The amount of large-scale scientific computing software is dramatically increasing. In this work, we designed a new language, named feature query language (FQL), to collect and extract software features from a quick static code analysis. We…
Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…
Cyber-physical systems like autonomous vehicles are tested in simulation before deployment, using domain-specific programs for scenario specification. To aid the testing of autonomous vehicles in simulation, we design a natural language…
Heated debates continue over the best autonomous driving framework. The classic modular pipeline is widely adopted in the industry owing to its great interpretability and stability, whereas the fully end-to-end paradigm has demonstrated…
Language model intelligence is revolutionizing the way we program materials simulations. However, the diversity of simulation scenarios renders it challenging to precisely transform human language into a tailored simulator. Here, using…
Due to their "inherent parallelism", interaction nets have since their introduction been considered as an attractive implementation mechanism for functional programming. We show that a simple highly-concurrent implementation in Haskell can…
This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Computational models of human language often involve combinatorial problems. For instance, a probabilistic parser may marginalize over exponentially many trees to make predictions. Algorithms for such problems often employ dynamic…
Reinforcement learning (RL) methods usually treat reward functions as black boxes. As such, these methods must extensively interact with the environment in order to discover rewards and optimal policies. In most RL applications, however,…
Visual programming, a modular and generalizable paradigm, integrates different modules and Python operators to solve various vision-language tasks. Unlike end-to-end models that need task-specific data, it advances in performing visual…
Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…
Programming physicists use, as all programmers, arrays, lists, tuples, records, etc., and this requires some change in their thought patterns while converting their formulae into some code, since the "data structures" operated upon, while…
Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these…
Software testing is an important part of the development cycle, yet it requires specialized expertise and substantial developer effort to adequately test software. Recent discoveries of the capabilities of large language models (LLMs)…
We present a system for the automatic differentiation of a higher-order functional array-processing language. The core functional language underlying this system simultaneously supports both source-to-source automatic differentiation and…
With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…