8 papers
Runtime Monitoring of Perception-Based Autonomous Systems via Embedding Temporal Logic
Parv Kapoor, Abigail Hammer, Ashish Kapoor +2
Runtime monitoring of autonomous systems traditionally relies on mapping continuous sensor observations to discrete logical propositions defined over low-dimensional state variable…
Constrained Decoding for Safe Robot Navigation Foundation Models
Parv Kapoor, Akila Ganlath, Michael Clifford +3
Recent advances in the development of robotic foundation models have led to promising end-to-end and general-purpose capabilities in robotic systems. Trained on vast datasets of si…
Counterexample Classification for Signal Temporal Logic Specifications
Zhenya Zhang, Parv Kapoor, Jie An +1
Signal Temporal Logic (STL) has been widely adopted as a specification language for specifying desirable behaviors of hybrid systems. One of the most common uses of STL is falsific…
STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification
Parv Kapoor, Kazuki Mizuta, Eunsuk Kang +1
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the…
Compositional Inductive Invariant Inference via Assume-Guarantee Reasoning
Ian Dardik, Eunsuk Kang
A common technique for verifying the safety of complex systems is the inductive invariant method. Inductive invariants are inductive formulas that overapproximate the reachable sta…
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
Parv Kapoor, Ian Higgins, Nikhil Keetha +9
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this…