Related papers: An Implementation of a Non-monotonic Logic in an E…
Controlled natural languages (CNLs) are effective languages for knowledge representation and reasoning. They are designed based on certain natural languages with restricted lexicon and grammar. CNLs are unambiguous and simple as opposed to…
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…
Recent work shows issues of consistency with explanations, with methods generating local explanations that seem reasonable instance-wise, but that are inconsistent across instances. This suggests not only that instance-wise explanations can…
Robotic systems deployed in real-world environments often operate under conditions of partial and often intermittent observability, where sensor inputs may be noisy, occluded, or entirely unavailable due to failures or environmental…
This paper presents a novel method to identify and insert redundant logic into a combinational circuit to improve its fault tolerance without having to replicate the entire circuit as is the case with conventional redundancy techniques. In…
Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly…
Large language models are typically adapted to downstream tasks through supervised fine-tuning on domain-specific data. While standard fine-tuning focuses on minimizing generation loss to optimize model parameters, we take a deeper step by…
In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…
Robotic cell injection is used for automatically delivering substances into a cell and is an integral component of drug development, genetic engineering and many other areas of cell biology. Traditionally, the correctness of functionality…
We describe the design and implementation of a reasoning engine that facilitates the gamification of loop-invariant discovery. Our reasoning engine enables students, computational agents and regular software engineers with no formal methods…
The multi-timestep command governor (MCG) is an add-on algorithm that enforces constraints by modifying, at each timestep, the reference command to a pre-stabilized control system. The MCG can be interpreted as a Model-Predictive Control…
We study language-in-the-loop control for multi-drone systems that execute evolving, high-level missions while retaining formal robustness guarantees at the physical layer. We propose a three-layer architecture in which (i) a human operator…
Tremendous research effort has been dedicated over the years to thoroughly investigate non-monotonic reasoning. With the abundance of non-monotonic logical formalisms, a unified theory that enables comparing the different approaches is much…
Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a NMPC that exploits the fully physics based…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…
While neural models show remarkable accuracy on individual predictions, their internal beliefs can be inconsistent across examples. In this paper, we formalize such inconsistency as a generalization of prediction error. We propose a…
Drones are embedded systems (ES) used across a wide range of fields, from photography to shipments and even during crisis management for searching, rescuing and damage assessment activities. However, their limited battery life and high…
Exact inference in probabilistic First-Order Logic offers a promising yet computationally costly approach for regulating the behavior of autonomous agents in shared traffic spaces. While prior methods have combined logical and probabilistic…
We describe and analyze magnonic logic circuits enabling parallel data processing on multiple frequencies. The circuits combine bi-stable (digital) input/output elements and an analog core. The data transmission and processing within the…