4 papers · 1 filter
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…
Pretrained Embeddings as a Behavior Specification Mechanism
Parv Kapoor, Abigail Hammer, Ashish Kapoor +2
We propose an approach to formally specifying the behavioral properties of systems that rely on a perception model for interactions with the physical world. The key idea is to intr…