Related papers: Composition of choreography automata
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
Arranging objects correctly is a key capability for robots which unlocks a wide range of useful tasks. A prerequisite for creating successful arrangements is the ability to evaluate the desirability of a given arrangement. Our method…
The appearance of the same object may vary in different scene images due to perspectives and occlusions between objects. Humans can easily identify the same object, even if occlusions exist, by completing the occluded parts based on its…
This paper proposes a new model for music prediction based on Variational Autoencoders (VAEs). In this work, VAEs are used in a novel way in order to address two different problems: music representation into the latent space, and using this…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
This paper describes an alignment-based model for interpreting natural language instructions in context. We approach instruction following as a search over plans, scoring sequences of actions conditioned on structured observations of text…
Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…
We introduce Programmatic Motion Concepts, a hierarchical motion representation for human actions that captures both low-level motion and high-level description as motion concepts. This representation enables human motion description,…
Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…
This paper will examine the spatial reference systems typically used in Laban Movement Analysis (LMA), and the consequences of group actions on these systems. The elementary notions of inversion and transposition in choreographic…
Many machine learning algorithms represent input data with vector embeddings or discrete codes. When inputs exhibit compositional structure (e.g. objects built from parts or procedures from subroutines), it is natural to ask whether this…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
Distributed interactions can be suitably designed in terms of choreographies. Such abstractions can be thought of as global descriptions of the coordination of several distributed parties. Global assertions define contracts for…
The paper is devoted to two types of algebraic models of automata. The usual (first type) model leads to the developed decomposition theory (Krohn-Rhodes theory). We introduce another type of automata model and study how these automata are…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Sports visualization has developed into an active research field over the last decades. Many approaches focus on analyzing movement data recorded from unstructured situations, such as soccer. For the analysis of choreographed activities…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…
We present an active automata learning algorithm which learns a decomposition of a finite state machine, based on projecting onto individual outputs. This is dual to a recent compositional learning algorithm by Labbaf et al. (2023). When…
We introduce anticipation: a method for constructing a controllable generative model of a temporal point process (the event process) conditioned asynchronously on realizations of a second, correlated process (the control process). We…