Related papers: Generalized Property-Directed Reachability for Hyb…
In autonomous driving, there has been an explosion in the use of deep neural networks for perception, prediction and planning tasks. As autonomous vehicles (AVs) move closer to production, multi-modal sensor inputs and heterogeneous vehicle…
The IC3 algorithm represents the state-of-the-art (SOTA) hardware model checking technique, owing to its robust performance and scalability. A significant body of research has focused on enhancing the solving efficiency of the IC3…
We extend a semantic verification framework for hybrid systems with the Isabelle/HOL proof assistant by an algebraic model for hybrid program stores, a shallow expression model for hybrid programs and their correctness specifications, and…
Identifying affordance regions on 3D objects from semantic cues is essential for robotics and human-machine interaction. However, existing 3D affordance learning methods struggle with generalization and robustness due to limited annotated…
Post-training has split large language model (LLM) alignment into two largely disconnected tracks. Online reinforcement learning (RL) with verifiable rewards drives emergent reasoning on math and code but depends on a programmatic verifier…
Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…
There exist many examples of systems which have some symmetries, and which one may monitor with symmetry preserving controls. Since symmetries are preserved along the evolution, full controllability is not possible, and controllability has…
This paper presents a novel approach to including non-instantaneous discrete control transitions in the linear hybrid automaton approach to simulation and verification of hybrid control systems. In this paper we study the control of a…
Generalized Ray Theory (GRT) provides a simple description of MHD mode transmission and conversion between magnetoacoustic fast and slow waves and is directly applicable to solar active regions. Here it is tested in a simple…
We develop an algorithm for computing bounded reachability probability for hybrid systems, i.e., the probability that the system reaches an unsafe region within a finite number of discrete transitions. In particular, we focus on hybrid…
In this work, we extend the Impulse Approximation for the generalized parton distributions (GPDs) of a spin-0 composite hadron with spin-$\tfrac{1}{2}$ constituents to manifestly incorporate the symmetries of the target wave function. The…
The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…
Spacecraft Rendezvous, Proximity Operations (RPO), and Formation Flying (FF) rely on safety-critical guidance, navigation and control (GNC) that must satisfy stringent performance and robustness requirements. However, verifying GNC…
Formal verification of neuro-symbolic cyber-physical systems, such as drones, medical devices and robots, is complicated. Neural components must be trained to be optimal with respect to the available data as well as the safety…
In this paper we study reachability verification problems of stochastic discrete-time dynamical systems over the infinite time horizon. The reachability verification of interest in this paper is to certify specified lower and upper bounds…
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC for systems with contact, dynamic models are often…
Generalized Disjunctive Programming (GDP) provides an alternative framework to model optimization problems with both discrete and continuous variables. The key idea behind GDP involves the use of logical disjunctions to represent discrete…
We propose a method for checking generalized reachability properties in Petri nets that takes advantage of structural reductions and that can be used, transparently, as a pre-processing step of existing model-checkers. Our approach is based…
Existing methods for verifying access control policies require the policy to be complete and fully determined before verification can proceed, but in practice policies are developed iteratively, composed from independently maintained…
We study safety verification for multithreaded programs with recursive parallelism (i.e. unbounded thread creation and recursion) as well as unbounded integer variables. Since the threads in each program configuration are structured in a…