相关论文: Formalizing Stateful Behavior Trees

Safety-critical infrastructures must operate safely and reliably. Fault tree analysis is a widespread method used to assess risks in these systems: fault trees (FTs) are required - among others - by the Federal Aviation Authority, the…

Solid-state drives (SSDs) are extensively used to deploy persistent data stores, as they provide low latency random access, high write throughput, high data density, and low cost. Tree-based data structures are widely used to build…

Pretrained bidirectional Transformers, such as BERT, have achieved significant improvements in a wide variety of language understanding tasks, while it is not straightforward to directly apply them for natural language generation. In this…

Semantic textual similarity (STS) plays a crucial role in many natural language processing tasks. While extensively studied in high-resource languages, STS remains challenging for under-resourced languages such as Slovak. This paper…

Signal Temporal Logic (STL) has become a popular tool for expressing formal requirements of Cyber-Physical Systems (CPS). The problem of verifying STL properties of neural network-controlled CPS remains a largely unexplored problem. In this…

Random Forest's performance can be matched by a single slow-growing tree (SGT), which uses a learning rate to tame CART's greedy algorithm. SGT exploits the view that CART is an extreme case of an iterative weighted least square procedure.…

There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…

Decision trees are widely used for interpretable machine learning due to their clearly structured reasoning process. However, this structure belies a challenge we refer to as predictive equivalence: a given tree's decision boundary can be…

The rigid, uniform allocation of computation in standard Transformer (TF) architectures can limit their efficiency and scalability, particularly for large-scale models and long sequences. Addressing this, we introduce Subjective Depth…

Visibly pushdown transducers (VPTs) are visibly pushdown automata extended with outputs. They have been introduced to model transformations of nested words, i.e. words with a call/return structure. As trees and more generally hedges can be…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined…

Recently, there has been a growing interest in automatic software vulnerability detection. Pre-trained model-based approaches have demonstrated superior performance than other Deep Learning (DL)-based approaches in detecting…

We present two abstractions for designing modular state machine replication (SMR) protocols: trees and turtles. A tree captures the set of possible state machine histories, while a turtle represents a subprotocol that tries to find…

State-machine based notations are ubiquitous in the description of component systems, particularly in the robotic domain. To ensure these systems are safe and predictable, formal verification techniques are important, and can be…

We present Stratified Metric Temporal Logic (SMTL), a novel formalism for specifying and verifying properties of complex cyber-physical systems that exhibit behaviors across multiple temporal and abstraction scales. SMTL extends existing…

Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive…

Signal Temporal Logic (STL) is an expressive formal language for specifying spatio-temporal requirements over real-valued, real-time signals. It has been widely used for the verification and synthesis of autonomous systems and…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

We study deterministic tree-walking-storage automata, which are finite-state devices equipped with a tree-like storage. These automata are generalized stack automata, where the linear stack storage is replaced by a non-linear tree-like…