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Visual affordance segmentation identifies image regions of an object an agent can interact with. Existing methods re-use and adapt learning-based architectures for semantic segmentation to the affordance segmentation task and evaluate on…
We give a new proof of the decidability of reachability in alternating pushdown systems, showing that it is a simple consequence of a cut-elimination theorem for some natural-deduction style inference systems. Then, we show how this result…
This paper is concerned with linear parameter-dependent systems and considers the notion uniform ensemble reachability. The focus of this work is on constructive methods to compute suitable parameter-independent open-loop inputs for such…
Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
In this paper, we define a new realizability semantics for the simply typed lambda-mu-calculus. We show that if a term is typable, then it inhabits the interpretation of its type. We also prove a completeness result of our realizability…
We consider reachability decision problems for linear dynamical systems: Given a linear map on $\mathbb{R}^d$ , together with source and target sets, determine whether there is a point in the source set whose orbit, obtained by repeatedly…
This paper introduces robust differential dynamic logic (a fragment of differential dynamic logic) to specify and reason about robust hybrid systems. Practically meaningful syntactic restrictions naturally ensure that definable properties…
Global protocol specifications are the starting point of top-down verification methodologies, and serve as a blueprint for synthesizing local specifications that guarantee the correctness of distributed implementations. In this work, we…
We propose a new approach to compute an interval over-approximation of the finite time reachable set for a large class of nonlinear systems. This approach relies on the notions of sensitivity matrices, which are the partial derivatives…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
Reachability analysis is a formal method to guarantee safety of dynamical systems under the influence of uncertainties. A substantial bottleneck of all reachability algorithms is the necessity to adequately tune specific algorithm…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
Reachability queries checking the existence of a path from a source node to a target node are fundamental operators for querying and processing graph data. Current approaches for index-based evaluation of reachability queries either focus…
We present a new type system with support for proofs of programs in a call-by-value language with control operators. The proof mechanism relies on observational equivalence of (untyped) programs. It appears in two type constructors, which…
We propose a continuous measure of tonal ambiguity that extends the established concept of uniqueness. While uniqueness is widely regarded as necessary for tonality, it cannot (i) discriminate among sets that possess it, (ii) capture…
Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive estimators for sub-aspects of affordances:…
In concurrent and distributed systems, software components are expected to communicate according to predetermined protocols and APIs - and if a component does not observe them, the system's reliability is compromised. Furthermore, isolating…
We propose categories of $1$-dimensional and multi-dimensional quantum walks. In the categories, an object is a quantum walk, and a morphism is an intertwining operator between two quantum walks. The new framework enables us to discuss…
Reachability in pushdown vector addition systems with states (PVASS) is among the longest standing open problems in Theoretical Computer Science. We show that the problem is decidable in full generality. Our decision procedure is similar in…