Related papers: Towards Mitigating Sim2Real Gaps: A Formal Quantit…
Search-based testing is widely used to find bugs in models of complex Cyber-Physical Systems. Latest research efforts have improved this approach by casting it as a falsification procedure of formally specified temporal properties,…
We present a formal model developed to reason about topologies created by sensor ranges. This model is used to formalise the topological aspects of an existing counting algorithm to estimate the number of targets in the area covered by the…
Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…
We consider the simulation of interacting high-dimensional systems using pairwise interacting qubits. The main tool in this context is the generation of effective many-body interactions, and we examine a number of different protocols for…
This paper provides a bound on the number of numeric operations (fixed or floating point) that can safely be performed before accuracy is lost. This work has important implications for control systems with safety-critical software, as these…
We present a practical course targeting graduate students with prior knowledge of the basics of quantum computing. The practical aims to deepen students' understanding of fundamental concepts in quantum computing by implementing quantum…
We propose and analyze a sample-efficient protocol to estimate the fidelity between an experimentally prepared state and an ideal target state, applicable to a wide class of analog quantum simulators without advanced sophisticated…
We study an optimization-based approach to construct statistically accurate confidence intervals for simulation performance measures under nonparametric input uncertainty. This approach computes confidence bounds from simulation runs driven…
Systems design processes are increasingly reliant on simulation models to inform design decisions. A pervasive issue within the systems engineering community is trusting in the models used to make decisions about complex systems. This work…
This paper presents a novel method for transferring motion planning and control policies between a teacher and a learner robot. With this work, we propose to reduce the sim-to-real gap, transfer knowledge designed for a specific system into…
This article introduces a fully automated verification technique that permits to analyze real-time systems described using a continuous notion of time and a mixture of operational (i.e., automata-based) and descriptive (i.e., logic-based)…
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed search stages. Calibrating soft aquatic robots is…
This thesis is concerned with quantitative verification, that is, the verification of quantitative properties of quantitative systems. These systems are found in numerous applications, and their quantitative verification is important, but…
We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…
Although a universal quantum computer is still far from reach, the tremendous advances in controllable quantum devices, in particular with solid-state systems, make it possible to physically implement "quantum simulators". Quantum…
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…
To run a quantum program in the real device, the compiler maps the logical qubits to physical qubits. This is the most crucial step of compiling a quantum circuit. Because the fidelity of a quantum circuit depends heavily on this mapping…
We consider the problem of calibrating an imperfect computer model using experimental data. To compensate the misspecification of the computer model and make more accurate predictions, a discrepancy function is often included and modeled…
Simulations of lattice gauge theories on noisy quantum hardware inherently suffer from violations of the gauge symmetry due to coherent and incoherent errors of the underlying physical system that implements the simulation. These gauge…
Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…