Related papers: Separation Logic for Verifying Physical Collisions…
Perception-based neural network controllers are increasingly used in autonomous systems that rely on visual inputs to operate in the real world. Ensuring the safety of such systems under uncertainty is challenging. Existing verification…
For over two decades Separation Logic has been arguably the most popular framework for reasoning about heap-manipulating programs, as well as reasoning about shared resources and permissions. Separation Logic is often extended to include…
This paper reviews the reasons that Human-in-the-Loop is both critical for preventing widely-understood failure modes for machine learning, and not a practical solution. Following this, we review two current heuristic methods for addressing…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measurement or low-level features such as keyframe descriptors,…
Effectively translating between natural language (NL) and formal logics like Linear Temporal Logic (LTL) requires expertise that limits formal verification's reach in safety-critical development. Template-based approaches sacrifice…
Concurrent separation logic (CSL) is a specification logic for concurrent imperative programs with shared memory and locks. In this paper, we develop a concurrent and interactive account of the logic inspired by asynchronous game semantics.…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
Business processes need to have certain constraints such that they can lead to sustainable outcomes. These constraints can be manifold and their adherence has to be monitored. In the past compliance checking has been applied in several…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
Computability logic (CL) (see http://www.cis.upenn.edu/~giorgi/cl.html ) is a research program for redeveloping logic as a formal theory of computability, as opposed to the formal theory of truth which it has more traditionally been.…
From biological systems to cyber-physical systems, monitoring the behavior of such dynamical systems often requires to reason about complex spatio-temporal properties of physical and/or computational entities that are dynamically…
We review state-of-the-art formal methods applied to the emerging field of the verification of machine learning systems. Formal methods can provide rigorous correctness guarantees on hardware and software systems. Thanks to the availability…
Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly intertwined computational (logical) and physical components, each operating at different spatial and temporal scales. Hence, the spatial and temporal requirements…
Executing complex manipulation in cluttered environments requires satisfying coupled geometric and temporal constraints. Although Spatio-Temporal Logic (SpaTiaL) offers a principled specification framework, its use in gradient-based…
Cminor is a mid-level imperative programming language; there are proved-correct optimizing compilers from C to Cminor and from Cminor to machine language. We have redesigned Cminor so that it is suitable for Hoare Logic reasoning and we…
Underlying computational model has an important role in any computation. The state and transition (such as in automata) and rule and value (such as in Lisp and logic programming) are two comparable and counterpart computational models. Both…
Cyber-Physical Systems (CPS) often leverage Reinforcement Learning (RL) techniques to adapt dynamically to changing environments and optimize performance. However, it is challenging to construct safety cases for RL components. We therefore…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
Motivated by Smart Manufacturing and Industry 4.0, we introduce a framework for synthesizing Abstraction-Based Controller Design (ABCD) for reach-avoid problems from Natural Language (NL) specifications using Large Language Models (LLMs). A…