Related papers: Robustness-by-Construction Synthesis: Adapting to …
Most current methods for learning from demonstrations assume that those demonstrations alone are sufficient to learn the underlying task. This is often untrue, especially if extra safety specifications exist which were not present in the…
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a…
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up to the accuracy of the underlying numerical integration…
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…
Specifications for reactive systems often consist of environment assumptions and system guarantees. An implementation should not only be correct, but also robust in the sense that it behaves reasonably even when the assumptions are…
Many systems are naturally modeled as Markov Decision Processes (MDPs), combining probabilities and strategic actions. Given a model of a system as an MDP and some logical specification of system behavior, the goal of synthesis is to find a…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…
Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…
We reduce synthesis for CTL* properties to synthesis for LTL. In the context of model checking this is impossible - CTL* is more expressive than LTL. Yet, in synthesis we have knowledge of the system structure and we can add new outputs.…
In runtime verification, manually formalizing a specification for monitoring system executions is a tedious and error-prone process. To address this issue, we consider the problem of automatically synthesizing formal specifications from…
Incorporating renewable energy sources into modern power grids has significantly decreased system inertia, which has raised concerns about power system vulnerability to disturbances and frequency instability. The conventional methods for…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
Upon the discovery of adversarial attacks, robust models have become obligatory for deep learning-based systems. Adversarial training with first-order attacks has been one of the most effective defenses against adversarial perturbations to…
Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable…
The reliability of autonomous systems depends on their robustness, i.e., their ability to meet their objectives under uncertainty. In this paper, we study spatiotemporal robustness of temporal logic specifications evaluated over…
Trajectory planning is a critical process that enables autonomous systems to safely navigate complex environments. Signal temporal logic (STL) specifications are an effective way to encode complex temporally extended objectives for…
Robustness analyzes the impact of small perturbations in the semantics of a model. This allows to model hardware imprecision and therefore it has been applied to determine implementability of timed automata. In a recent paper, we extend…
Reasoning LLMs (RLLMs) generate step-by-step chains of thought (CoTs) before giving an answer, which improves performance on complex tasks and makes reasoning more transparent. But how robust are these reasoning traces to disruptions that…
We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…
We introduce transductive program synthesis, a new formulation of the program synthesis task that explicitly leverages test inputs during synthesis. While prior approaches to program synthesis--whether based on natural language descriptions…