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Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI. However, previous studies put much effort into general common sense reasoning and task planning capabilities…
This article presents a complete scheme for the development of Critical Embedded Systems with Multiple Real-Time Constraints. The system is programmed with a language that extends the synchronous approach with high-level real-time…
Computer Aided Design systems provide tools for building and manipulating models of solid objects. Some also provide access to programming languages so that parametrised designs can be expressed. There is a sharp distinction, therefore,…
Our goal is to build systems which write code automatically from the kinds of specifications humans can most easily provide, such as examples and natural language instruction. The key idea of this work is that a flexible combination of…
Interacting with computers is a ubiquitous activity for millions of people. Repetitive or specialized tasks often require creation of small, often one-off, programs. End-users struggle with learning and using the myriad of domain-specific…
We present MIPS, a novel method for program synthesis based on automated mechanistic interpretability of neural networks trained to perform the desired task, auto-distilling the learned algorithm into Python code. We test MIPS on a…
Program synthesis from natural language (NL) is practical for humans and, once technically feasible, would significantly facilitate software development and revolutionize end-user programming. We present SAPS, an end-to-end neural network…
Robots assisting humans in complex domains have to represent knowledge and reason at both the sensorimotor level and the social level. The architecture described in this paper couples the non-monotonic logical reasoning capabilities of a…
Program synthesis is the generation of a program from a specification. Correct synthesis is difficult, and methods that provide formal guarantees suffer from scalability issues. On the other hand, neural networks are able to generate…
Embodied AI aims to develop robots that can \textit{understand} and execute human language instructions, as well as communicate in natural languages. On this front, we study the task of generating highly detailed navigational instructions…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
In formal synthesis of reactive systems an implementation of a system is automatically constructed from its formal specification. The great advantage of synthesis is that the resulting implementation is correct by construction; therefore…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
We describe an intelligent assistant based on mining existing software repositories to help the developer interactively create checkable specifications of code. To be most useful we apply this at the subsystem level, that is chunks of code…
The development of safety-critical systems requires the control of hazards that can potentially cause harm. To this end, safety engineers rely during the development phase on architectural solutions, called safety patterns, such as safety…
Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly…
Intelligent coding systems are transforming software development by enabling users to specify code behavior in natural language. However, the opaque decision-making of AI-driven coders raises trust and usability concerns, particularly for…