25 citations · 115 across the 59 of their papers we have counts for
72 papers
Video2STL: Grounding VLM-Generated Temporal Specifications for Robot Learning
Merve Atasever, Keyan Azbijari, Cagan Bakirci +6
Video-based policy learning is particularly promising, as it illustrates target behaviors without requiring action annotations or embodiment-matched demonstrations. A central chall…
Agent-Based Evolutionary Dynamics for Mixed Autonomy Weaving Ramps
Sheryl Paul, Kexin Wang, Ruolin Li +1
Existing models of mixed-autonomy weaving ramps characterize how altruistic connected and automated vehicles (CAVs) can improve traffic efficiency at the population level, but prov…
ABM-SIRTEM: A Hybrid Agent-Based and Epidemiological Model for Pandemic Response
Sheryl Paul, Samuel Williams, Preetom K. Biswas +2
The COVID-19 pandemic has had profound impacts on global health, social structures, and economies. It disproportionately affected lower socioeconomic groups and those reliant on in…
Topology-Aware Congestion Pricing: Demand Robust Routing using the Forman-Ricci Curvature
Sheryl Paul, Samuel Williams, Kexin Wang +2
Congestion pricing is widely used to improve transportation network efficiency where individual decentralized route choices can lead to system-level inefficiencies. Pigouvian tolls…
From LLM-Generated Specifications to Learned Quadruped Locomotion
Merve Atasever, Keyan Azbijari, Cagan Bakirci +5
Quadruped robot locomotion policies are often trained using reinforcement learning, which in turn relies heavily on hand-crafted reward functions. Designing reward functions requir…
Conformal Prediction Regions for Continuous-Time Trajectories under Random Sampling
Joaquin Alvarez, Matteo Sesia, Jyotirmoy V. Deshmukh +1
Uncertainty quantification for continuous-time trajectories is a prerequisite in many safety-critical engineering domains. However, a major challenge in data-driven uncertainty qua…
Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic
Yiqi Zhao, Taekyung Kim, Hideki Okamoto +4
Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-awar…
Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Model
Celina Shiyu Wang, Yiqi Zhao, Junjie Ye +2
Vision-language-action (VLA) models can follow natural-language (NL) task instructions, but such instructions may not precisely specify safety-critical or spatiotemporal requiremen…
Multi-Agent Planning with Spatio-Temporal and Topological Constraints using STL-GO
Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3
Multi-agent planning problems arise in a variety of engineering applications, such as multi-robot wildfire fighting and unmanned aerial inspection in factories. A particular challe…
Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Merve Atasever, Cagan Bakirci, Alfredo Reina Corona +3
Reinforcement learning (RL) for quadruped locomotion commonly depends on fixed, hand-crafted, and Markovian reward functions that may limit interpretability of learned policies and…
An Algebraic Framework for Quantitative Semantics of Spatio-Temporal Logic with Graph Operators
Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3
Spatio-Temporal Logic with Graph Operators (STL-GO) extends Signal Temporal Logic (STL) to multi-agent systems via graph operators that count neighboring agents satisfying a proper…
Duet: Dual-Robot Understanding via Efficient Teaching
Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10
Dual-robot collaboration enables tasks that exceed the reach and payload of a single robot, such as collaboratively transporting objects across environments and executing coordinat…
Guiding Neuro-Symbolic Scenario Generation with Spatio-Temporal Logic
Lorenzo Bonin, Francesco Giacomarra, Luca Bortolussi +2
The rapid advancement of autonomous driving (AD) technologies has outpaced the development of robust safety evaluation methods. Conventional testing relies on exposing AD systems t…
On Online Control of Opinion Dynamics
Sheryl Paul, Leslie Cruz Juarez, Jyotirmoy V. Deshmukh +1
Networked multi-agent dynamical systems have been used to model how individual opinions evolve over time due to the opinions of other agents in the network. Particularly, such a mo…
When Environments Shift: Safe Planning with Generative Priors and Robust Conformal Prediction
Kaizer Rahaman, Jyotirmoy V. Deshmukh, Ashish R. Hota +1
Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose beha…
Benchmarking Autonomous Driving Planners Across Leaderboards: A Unified CARLA-Based Evaluation
Merve Atasever, Alfredo Reina Corona, Zhuochen Liu +5
Autonomous driving remains a highly active research domain that seeks to enable vehicles to perceive dynamic environments, predict the future trajectories of traffic agents such as…
Multi-Agent Path Finding via Offline RL and LLM Collaboration
Merve Atasever, Matthew Hong, Mihir Nitin Kulkarni +2
Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity an…
Conformal Predictive Monitoring for Multi-Modal Scenarios
Francesca Cairoli, Luca Bortolussi, Jyotirmoy V. Deshmukh +2
We consider the problem of quantitative predictive monitoring (QPM) of stochastic systems, i.e., predicting at runtime the degree of satisfaction of a desired temporal logic proper…
Domain-Aware Machine Learning for Accelerating MILP-Based Motion Planning with Temporal Logic and Chance Constraints
Junyang Cai, Weimin Huang, Brendan Long +4
Motion-planning problems with temporal-logic or chance constraints are often encoded as mixed-integer linear programs (MILPs). Although these encodings provide rigorous specificati…
STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
Yiqi Zhao, Xinyi Yu, Bardh Hoxha +3
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a…
PCA-DDReach: Efficient Statistical Reachability Analysis of Stochastic Dynamical Systems via Principal Component Analysis
Navid Hashemi, Lars Lindemann, Jyotirmoy Deshmukh
This study presents a scalable data-driven algorithm designed to efficiently address the challenging problem of reachability analysis. Analysis of cyber-physical systems (CPS) reli…
ConformalNL2LTL: Translating Natural Language Instructions into Temporal Logic Formulas with Conformal Correctness Guarantees
David Smith Sundarsingh, Jun Wang, Jyotirmoy V. Deshmukh +1
Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-enco…
Coordinating Spinal and Limb Dynamics for Enhanced Sprawling Robot Mobility
Merve Atasever, Ali Okhovat, Azhang Nazaripouya +4
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across comp…
Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
Yiqi Zhao, Emily Zhu, Bardh Hoxha +3
Cyber-physical systems (CPS) designed in simulators, often consisting of multiple interacting agents (e.g. in multi-agent formations), behave differently in the real-world. We want…