相关论文: Verification of Logical Consistency in Robotic Rea…

Large language models (LLMs) have rapidly progressed into general-purpose agents capable of solving a broad spectrum of tasks. However, current models remain inefficient at reasoning: they apply fixed inference-time compute regardless of…

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…

We consider temporal logic verification of (possibly nonlinear) dynamical systems evolving over continuous state spaces. Our approach combines automata-based verification and the use of so-called barrier certificates. Automata-based…

This paper introduces a novel framework that leverages large language models (LLMs) for machine translation (MT). We start with one conjecture: an ideal translation should contain complete and accurate information for a strong enough LLM to…

Computational models of biological processes provide one of the most powerful methods for a detailed analysis of the mechanisms that drive the behavior of complex systems. Logic-based modeling has enhanced our understanding and…

As humans interact with autonomous agents to perform increasingly complicated, potentially risky tasks, it is important to be able to efficiently evaluate an agent's performance and correctness. In this paper we formalize and theoretically…

We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

First-order linear temporal logic (FOLTL) is a flexible and expressive formalism capable of naturally describing complex behaviors and properties. Although the logic is in general highly undecidable, the idea of using it as a specification…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

Interpretable classification models are built with the purpose of providing a comprehensible description of the decision logic to an external oversight agent. When considered in isolation, a decision tree, a set of classification rules, or…

This paper proposes CES, a task to evaluate the abilities of LLMs in simulating program execution and using that reasoning in programming tasks. Besides measuring the correctness of variable predictions during execution simulation, CES…

Large language models (LLMs) have achieved widespread success on a variety of in-context few-shot tasks, but this success is typically evaluated via correctness rather than consistency. We argue that self-consistency is an important…

Large Language Models (LLMs) are known to acquire reasoning capabilities through shared inference patterns in pre-training data, which are further elicited via Chain-of-Thought (CoT) practices. However, whether fundamental reasoning…

Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…

Large Language Models (LLMs) have grown increasingly powerful, yet ensuring their decisions remain transparent and trustworthy requires self-consistency -- no contradictions in their internal reasoning. Our study reveals that even on simple…

Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…

Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC system to complete complex tasks specified using temporal logic…

This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) formulas. Particularly, the LTL formula requires the system to…