Related papers: Formally Verified Animation for RoboChart using In…
Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet translating this temporal structure into…
When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…
This paper is the longer version of the extended abstract with the same name published in FM 06. We describe in detail the algorithm to generate verification conditions from statechart structures implemented in the iState tool. This…
Neural fields can be trained from scratch to represent the shape and appearance of 3D scenes efficiently. It has also been shown that they can densely map correlated properties such as semantics, via sparse interactions from a human…
Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian…
Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…
Formal analysis of functional and non-functional requirements is crucial in automotive systems. The behaviors of those systems often rely on complex dynamics as well as on stochastic behaviors. We have proposed a probabilistic extension of…
Story Visualization aims to generate a sequence of images that faithfully depicts a textual narrative that preserve character identity, spatial configuration, and stylistic coherence as the narratives unfold. Maintaining such cross-frame…
We propose a novel one-stage Transformer-based semantic and spatial refined transformer (SSRT) to solve the Human-Object Interaction detection task, which requires to localize humans and objects, and predicts their interactions. Differently…
We present the Crowbar tool, a deductive verification system for the ABS language. ABS models distributed systems with the Active Object concurrency model. Crowbar implements behavioral symbolic execution: each method is symbolically…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…
We consider parameterized concurrent systems consisting of a finite but unknown number of components, obtained by replicating a given set of finite state automata. Components communicate by executing atomic interactions whose participants…
Generalist robots should be able to understand and follow user instructions, but current vision-language-action (VLA) models struggle with following fine-grained commands despite providing a powerful architecture for mapping open-vocabulary…
In order to apply canonical labelling of graphs and isomorphism checking in interactive theorem provers, these checking algorithms must either be mechanically verified or their results must be verifiable by independent checkers. We analyze…
Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a…
This paper presents INVIGORATE, a robot system that interacts with human through natural language and grasps a specified object in clutter. The objects may occlude, obstruct, or even stack on top of one another. INVIGORATE embodies several…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI. However, previous studies put much effort into general common sense reasoning and task planning capabilities…
The classical human-robot interface in uncalibrated image-based visual servoing (UIBVS) relies on either human annotations or semantic segmentation with categorical labels. Both methods fail to match natural human communication and convey…