6 papers
Spatio-Temporal Grounding of Large Language Models from Perception Streams
Jacob Anderson, Bardh Hoxha, Georgios Fainekos +2
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained…
From Dashcam Videos to Driving Simulations: Stress Testing Automated Vehicles against Rare Events
Yan Miao, Georgios Fainekos, Bardh Hoxha +3
Testing Automated Driving Systems (ADS) in simulation with realistic driving scenarios is important for verifying their performance. However, converting real-world driving videos i…
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring…
The Boundaries of Verifiable Accuracy, Robustness, and Generalisation in Deep Learning
Alexander Bastounis, Alexander N. Gorban, Anders C. Hansen +5
In this work, we assess the theoretical limitations of determining guaranteed stability and accuracy of neural networks in classification tasks. We consider classical distribution-…
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…
Querying Perception Streams with Spatial Regular Expressions
Jacob Anderson, Georgios Fainekos, Bardh Hoxha +2
Perception in fields like robotics, manufacturing, and data analysis generates large volumes of temporal and spatial data to effectively capture their environments. However, sortin…