相关论文: 3D Environment Modeling for Falsification and Beyo…

We propose a new probabilistic programming language for the design and analysis of cyber-physical systems, especially those based on machine learning. Specifically, we consider the problems of training a system to be robust to rare events,…

We propose a new probabilistic programming language for the design and analysis of perception systems, especially those based on machine learning. Specifically, we consider the problems of training a perception system to handle rare events,…

Full verification of learning-enabled cyber-physical systems (CPS) has long been intractable due to challenges including black-box components and complex real-world environments. Existing tools either provide formal guarantees for limited…

For cyber-physical systems (CPS), including robotics and autonomous vehicles, mass deployment has been hindered by fatal errors that occur when operating in rare events. To replicate rare events such as vehicle crashes, many companies have…

We introduce the Scene Language, a visual scene representation that concisely and precisely describes the structure, semantics, and identity of visual scenes. It represents a scene with three key components: a program that specifies the…

Scenic is an open-source JAX library with a focus on Transformer-based models for computer vision research and beyond. The goal of this toolkit is to facilitate rapid experimentation, prototyping, and research of new vision architectures…

Synthesizing natural human motion that adapts to complex environments while allowing creative control remains a fundamental challenge in motion synthesis. Existing models often fall short, either by assuming flat terrain or lacking the…

Falsification has emerged as an important tool for simulation-based verification of autonomous systems. In this paper, we present extensions to the Scenic scenario specification language and VerifAI toolkit that improve the scalability of…

Recent conditional image synthesis approaches provide high-quality synthesized images. However, it is still challenging to accurately adjust image contents such as the positions and orientations of objects, and synthesized images often have…

Behavior prediction remains one of the most challenging tasks in the autonomous vehicle (AV) software stack. Forecasting the future trajectories of nearby agents plays a critical role in ensuring road safety, as it equips AVs with the…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…

This article describes a volumetric approach for procedural shape modeling and a new Procedural Shape Modeling Language (PSML) that facilitates the specification of these models. PSML provides programmers the ability to describe shapes in…

3D scene modeling techniques serve as the bedrocks in the geospatial engineering and computer science, which drives many applications ranging from automated driving, terrain mapping, navigation, virtual, augmented, mixed, and extended…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Cyber-physical systems (CPS) combine cyber and physical components engineered to make decisions and interact within dynamic environments. Ensuring the safety of CPS is of great importance, requiring extensive testing across diverse and…

To model combinatorial decision problems involving uncertainty and probability, we extend the stochastic constraint programming framework proposed in [Walsh, 2002] along a number of important dimensions (e.g. to multiple chance constraints…

Procedural generation techniques in 3D rendering engines have revolutionized the creation of complex environments, reducing reliance on manual design. Recent approaches using Large Language Models (LLMs) for 3D scene generation show promise…

The ability to map descriptions of scenes to 3D geometric representations has many applications in areas such as art, education, and robotics. However, prior work on the text to 3D scene generation task has used manually specified object…