相关论文: A Monitoring Language for Run Time and Post-Mortem…

Runtime Verification deals with the question of whether a run of a system adheres to its specification. This paper studies runtime verification in the presence of partial knowledge about the observed run, particularly where input values may…

We introduce iFlyBot-VLA, a large-scale Vision-Language-Action (VLA) model trained under a novel framework. The main contributions are listed as follows: (1) a latent action model thoroughly trained on large-scale human and robotic…

Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…

Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…

We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…

We describe an intermediate language designed as a medium-level internal representation of programs of the interactive music system Antescofo. This representation is independent both of the Antescofo source language and of the architecture…

This article introduces Newton, a specification language for notating the analytic form, units of measure, and sensor signal properties for physical-object-specific invariants and general physical laws. We designed Newton to provide a means…

We explore using the Suggested Upper Merged Ontology (SUMO) to develop a semantic simulation. We provide two proof-of-concept demonstrations modeling transitions in a simulated gasoline engine using a general-purpose programming language.…

Monitoring animal populations in natural environments requires systems that can interpret both visual data and human language queries. This work introduces ViLLa (Vision-Language-Logic Approach), a neuro-symbolic framework designed for…

This system demonstration presents Nemo, a new logic programming engine with a focus on reliability and performance. Nemo is built for data-centric analytic computations, modelled in a fully declarative Datalog dialect. Its scalability for…

FILO is a java application that decides unifiability for a unification problem formulated in the description logic $\mathcal{FL}_0$. If the problem is unifiable, it presents a user with an example of a solution. FILO joins a family of…

An intelligent virtual assistant (IVA) enables effortless conversations in call routing through spoken utterance classification (SUC) which is a special form of spoken language understanding (SLU). Building a SUC system requires a large…

Understanding freely moving animal behavior is central to neuroscience, where pose estimation and behavioral understanding form the foundation for linking neural activity to natural actions. Yet both tasks still depend heavily on human…

Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation…

Unknown-input observers (UIOs) allow for estimation of the states of an LTI system without knowledge of all inputs. In this paper, we provide a novel data-driven UIO based on behavioral system theory and the result known as Fundamental…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

English language requirements are often used to specify the behavior of complex cyber-physical systems. The process of transforming these requirements to a formal specification language is often challenging, especially if the specification…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…

Object Referring Analysis (ORA), commonly known as referring expression comprehension, requires the identification and localization of specific objects in an image based on natural descriptions. Unlike generic object detection, ORA requires…

Trajectory visualization and animation play critical roles in robotics research. However, existing data visualization and animation tools often lack flexibility, scalability, and versatility, resulting in limited capability to fully explore…