Grounding Complex Natural Language Commands for Temporal Tasks in Unseen Environments

Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from the specific environment and landmarks that will be used in natural language to understand commands in those environments. We propose Lang2LTL, a modular system and a software package that leverages large language models (LLMs) to ground temporal navigational commands to LTL specifications in environments without prior language data. We comprehensively evaluate Lang2LTL for five well-defined generalization behaviors. Lang2LTL demonstrates the state-of-the-art ability of a single model to ground navigational commands to diverse temporal specifications in 21 city-scaled environments. Finally, we demonstrate a physical robot using Lang2LTL can follow 52 semantically diverse navigational commands in two indoor environments.Comment: Conference on Robot Learning 202

Distributed Runtime Verification of Metric Temporal Properties for Cross-Chain Protocols

Transactions involving multiple blockchains are implemented by cross-chain protocols. These protocols are based on smart contracts, programs that run on blockchains, executed by a network of computers. Because smart contracts can automatically transfer ownership of cryptocurrencies, electronic securities, and other valuable assets among untrusting parties, verifying the runtime correctness of smart contracts is a problem of compelling practical interest. Such verification is challenging since smart contract execution is time-sensitive, and the clocks on different blockchains may not be perfectly synchronized. This paper describes a method for runtime monitoring of blockchain executions. First, we propose a generalized runtime verification technique for verifying partially synchronous distributed computations for the metric temporal logic (MTL) by exploiting bounded-skew clock synchronization. Second, we introduce a progression-based formula rewriting scheme for monitoring \MTL specifications which employ SMT solving techniques and report experimental results.Comment: 2022 IEEE 42nd International Conference on Distributed Computing Systems (ICDCS