Related papers: A Cegar-centric Bounded Reachability Analysis for …
Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…
Finite-state abstractions (a.k.a. symbolic models) present a promising avenue for the formal verification and synthesis of controllers in continuous-space control systems. These abstractions provide simplified models that capture the…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary variables and exploiting the introduced structure through a…
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and texture variations. Due to near-infinite degrees of freedom,…
Sequence modeling with neural networks has lead to powerful models of symbolic music data. We address the problem of exploiting these models to reach creative musical goals, by combining with human input. To this end we generalise previous…
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
Refinement transforms an abstract system model into a concrete, executable program, such that properties established for the abstract model carry over to the concrete implementation. Refinement has been used successfully in the development…
Existing Retrieval-Augmented Generation (RAG) methods for code struggle to capture the high-level architectural patterns and cross-file dependencies inherent in complex, theory-driven codebases, such as those in algorithmic game theory…
Abstraction is an important and useful concept in the field of artificial intelligence. To the best of our knowledge, there is no syntactic method to compute a sound and complete abstraction from a given low-level basic action theory and a…
Chord generation is an inherently constrained creative task that requires balancing stylistic diversity with music-theoretic feasibility. Existing approaches typically entangle candidate generation and constraint enforcement within a single…
We present an abstraction and refinement methodology for the automated controller synthesis to enforce general predefined specifications. The designed controllers require quantized (or symbolic) state information only and can be interfaced…
We study the reach control problem for affine systems on simplices, and the focus is on cases when it is known that the problem is not solvable by continuous state feedback. We examine from a geometric viewpoint the structural properties of…
Retrieval-augmented generation (RAG) connects large language models (LLMs) to external knowledge, but single-round retrieval is often insufficient for complex multi-hop questions. To enhance search capabilities for complex tasks, most…
In this paper, we develop a compositional scheme for the construction of continuous approximations for interconnections of infinitely many discrete-time switched systems. An approximation (also known as abstraction) is itself a…
We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…
Mixed-monotone systems are separable via a decomposition function into increasing and decreasing components, and this decomposition function allows for embedding the system dynamics in a higher-order monotone embedding system. Embedding the…