相关论文: BehaVerify: Verifying Temporal Logic Specification…

Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also be seen in terms of task switching between different…

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…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

Classic evaluation methods of believable agents are time-consuming because they involve many human to judge agents. They are well suited to validate work on new believable behaviours models. However, during the implementation, numerous…

Virtual reality (VR) platforms enable a wide range of applications, however, pose unique privacy risks. In particular, VR devices are equipped with a rich set of sensors that collect personal and sensitive information (e.g., body motion,…

In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show this in the context of autonomous underwater vehicles (AUVs).…

While users today have access to many tools that assist in performing large scale data analysis tasks, understanding the performance characteristics of their parallel computations, such as MapReduce jobs, remains difficult. We present…

A decision tree looks like a simple directed acyclic computational graph, where only the leaf nodes specify the output values and the non-terminals specify their tests or split conditions. From the numerical perspective, we express decision…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Verification is one of the central tasks in circuit and system design. While simulation and emulation are widely used, complete correctness can only be ensured based on formal proof techniques. But these approaches often have very high run…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

As large language models (LLMs) become ubiquitous in workplace tools and decision-making processes, ensuring explainability and fostering user trust are critical. Although advancements in LLM engineering continue, human-centered design is…

Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we…

Verification planning is a sequential decision-making problem that specifies a set of verification activities (VA) and correction activities (CA) at different phases of system development. While VAs are used to identify errors and defects,…

Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…

Monolithic control plane verification cannot scale to hyperscale network architectures with tens of thousands of nodes, heterogeneous network policies and thousands of network changes a day. Instead, modular verification offers improved…

We argue that trustworthy AI agents, especially in high-stakes and policy-governed domains, should make execution conditional on certified traces rather than rely only on stronger generative models, output-level guardrails, or post-hoc…

Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can…

Prior work on neural network verification has focused on specifications that are linear functions of the output of the network, e.g., invariance of the classifier output under adversarial perturbations of the input. In this paper, we extend…