Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitoring such specifications under uncertainty remains challenging, as existing formulations typically require extensive data or explicit uncertainty distributions. In this paper, we propose a real-time monitoring framework that reduces data requirements by leveraging data-driven reachable sets for specification evaluation. We instantiate the framework for maritime navigation, where complex specifications arise from traffic rules. We develop a data-efficient pipeline for constructing reachable sets and derive a monitoring formulation suitable for real-time deployment. Simulation and hardware experiments demonstrate robust monitoring under realistic disturbances, achieving improved risk detection compared to state-of-the-art metrics.

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• Official / arXiv page
• PDF from original source

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