Related papers: Verification of Behavior Trees with Contingency Mo…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
Runtime enforcement is a dynamic analysis technique that instruments a monitor with a system in order to ensure its correctness as specified by some property. This paper explores bidirectional enforcement strategies for properties…
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…
Nowadays, the Internet of Things (IoT) is widely employed, and its usage is growing exponentially because it facilitates remote monitoring, predictive maintenance, and data-driven decision making, especially in the healthcare and industrial…
The rapid advancements in autonomous vehicle software present both opportunities and challenges, especially in enhancing road safety. The primary objective of autonomous vehicles is to reduce accident rates through improved safety measures.…
Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive…
This paper introduces NEST (Network-Enforced Session Types), a runtime verification framework that moves application-level protocol monitoring into the network fabric. Unlike prior work that instruments or wraps application code, we…
High-level triggering is a vital component in many modern particle physics experiments. This paper describes a modification to the standard boosted decision tree (BDT) classifier, the so-called "bonsai" BDT, that has the following important…
We introduce AutoMonitor-Bench, the first benchmark designed to systematically evaluate the reliability of LLM-based misbehavior monitors across diverse tasks and failure modes. AutoMonitor-Bench consists of 3,010 carefully annotated test…
Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…
With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…
Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…
Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems,…
In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…
Security risk management can be applied on well-defined or existing systems; in this case, the objective is to identify existing vulnerabilities, assess the risks and provide for the adequate countermeasures. Security risk management can…
Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies at test time and provide early warnings of failure are…
While chain-of-thought (CoT) monitoring is an appealing AI safety defense, recent work on "unfaithfulness" has cast doubt on its reliability. These findings highlight an important failure mode, particularly when CoT acts as a post-hoc…
Techniques for runtime verification often utilise specification languages that are (i) reasonably expressive, and (ii) relatively abstract (i.e. they operate on a level of abstraction that separates them from the system being monitored).…
Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…
There is increasing interest in applying verification tools to programs that have bitvector operations. SMT solvers, which serve as a foundation for these tools, have thus increased support for bitvector reasoning through bit-blasting and…