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In modern runtime systems, memory layout calculations are hand-coded in systems languages. Primitives in these languages are not powerful enough to describe a rich set of layouts, leading to reliance on ad-hoc macros, numerous interrelated…
Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular MoveIt library and Robot Operating System (ROS) middleware. Robowflex provides an augmented API for crafting and…
Rust aims to be a safe programming language applicable to systems programming applications. In particular, its type system has strong guardrails to prevent a variety of issues, such as memory safety bugs and data races. However, these…
RooFit is a library of C++ classes that facilitate data modeling in the ROOT environment. Mathematical concepts such as variables, (probability density) functions and integrals are represented as C++ objects. The package provides a flexible…
Multimodal image matching is an important prerequisite for multisource image information fusion. Compared with the traditional matching problem, multimodal feature matching is more challenging due to the severe nonlinear radiation…
Systems programming often requires the manipulation of resources like file handles, network connections, or dynamically allocated memory. Programmers need to follow certain protocols to handle these resources correctly. Violating these…
OpenAI's recent introduction of Reinforcement Fine-Tuning (RFT) showcases the potential of reasoning foundation model and offers a new paradigm for fine-tuning beyond simple pattern imitation. This technical report presents \emph{OpenRFT},…
To ensure resilient neural network processing on even unreliable hardware, comprehensive reliability analysis against various hardware faults is generally required before the deep neural network models are deployed, and efficient error…
Rust is a popular memory-safe systems programming language. In order to interact with hardware or call into non-Rust libraries, Rust provides \emph{unsafe} language features that shift responsibility for ensuring memory safety to the…
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within both deterministic and…
Fine-tuning pretrained models is a standard and effective workflow in modern machine learning. However, robust fine-tuning (RFT), which aims to simultaneously achieve adaptation to a downstream task and robustness to adversarial examples,…
Training deep neural networks (DNNs) requires significantly more computation and memory than inference, making runtime adaptation of DNNs challenging on resource-limited IoT platforms. We propose InstantFT, an FPGA-based method for…
RooFit is a toolkit for statistical modelling and fitting, and together with RooStats it is used for measurements and statistical tests by most experiments in particle physics. Since one year, RooFit is being modernised. In this talk,…
The hybrid runtime (HRT) model offers a path towards high performance and efficiency. By integrating the OS kernel, runtime, and application, an HRT allows the runtime developer to leverage the full feature set of the hardware and…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional planning problems faced by real-world robots. However, these…
Modern computing systems face security threats, including memory corruption attacks, speculative execution vulnerabilities, and control-flow hijacking. Although existing solutions address these threats individually, they frequently…
The development of safety-critical aerospace systems is traditionally dominated by the C language. Its language characteristics make it trivial to accidentally introduce memory safety issues resulting in undefined behavior or security…
This paper introduces TestIt, an open-source Python package designed to automate full-system integration testing using a Software-Based Self-Test (SBST) approach. By dynamically generating test vectors and golden references, TestIt…
Memory-safety bugs introduce critical software-security issues. Rust provides memory-safe mechanisms to avoid memory-safety bugs in programming, while still allowing unsafe escape hatches via unsafe code. However, the unsafe code that…