2026preprint
Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic
Yiqi Zhao, Taekyung Kim, Hideki Okamoto, Bardh Hoxha, Jyotirmoy V. Deshmukh, Lars Lindemann, Georgios Fainekos
arXiv preprint arXiv:2608.23972, 2026
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Publication archive
All 87 publications, from newest to oldest.
- 2026conference
Diffusion-Guided Search via Exponential Tilting (DiffTilt): An Application to Falsification of Safety-Critical Systems
Tanmay Khandait, Preetom Biswas, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Giulia Pedrielli
International Conference on Embedded Software (EMSOFT), 2026
- 2026conference
FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking
Yan Miao, Karteek Gandiboyina, Noah Giles, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Sayan Mitra
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
- 2026conference
Sample-Efficient Learning of Probabilistic Causes for Reachability in Markov Decision Processes with Probabilistic Guarantees
Ryohei Oura, Georgios Fainekos, Hideki Okamoto, Bardh Hoxha
Conference on Uncertainty in Artificial Intelligence (UAI), 2026
- 2026preprint
Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
arXiv preprint arXiv:2605.21257, 2026
- 2026preprint
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
Taekyung Kim, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
arXiv preprint arXiv:2605.16588, 2026
- 2026preprint
Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations
Bardh Hoxha, Oliver Schön, Hideki Okamoto, Lars Lindemann, Georgios Fainekos
arXiv preprint arXiv:2605.13923, 2026
- 2026conference
Bayesian Risk-Aware CBFs for Discrete-Time Stochastic Systems with Learned Dynamics
Bardh Hoxha, Mitchell Black, Keyvan Majd, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov
American Control Conference (ACC), 2026
- 2026conference
Safe Model Predictive Diffusion with Shielding
Taekyung Kim, Keyvan Majd, Bardh Hoxha, Hideki Okamoto, Dimitra Panagou, Georgios Fainekos
IEEE International Conference on Robotics and Automation (ICRA), 2026
- 2026conference
Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
Yan Miao, Ege Yuceel, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Sayan Mitra
IEEE International Conference on Robotics and Automation (ICRA), 2026
- 2026journal
Quantitative Verification of Learning-Enabled Systems using ProbStar Reachability
Yuntao Li, Sung Woo Choi, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Hoang-Dung Tran
Nonlinear Analysis: Hybrid Systems 2026
- 2026conference
FiReFly: Fair Distributed Receding Horizon Planning for Multiple UAVs
Nathan Fronda, Bardh Hoxha, Houssam Abbas
IEEE Intelligent Transportation Systems Conference (ITSC), 2026
- 2026conference
Fair-CoPlan: Negotiated Flight Planning with Fair Deconfliction for Urban Air Mobility
Nathan Fronda, Peter Smith, Bardh Hoxha, Yash Pant, Houssam Abbas
IEEE Intelligent Transportation Systems Conference (ITSC), 2026
- 2025workshop
Spatio-Temporal Grounding of Large Language Models from Perception Streams
Jacob Anderson, Bardh Hoxha, Georgios Fainekos, Hideki Okamoto, Danil V. Prokhorov
NeurIPS 2025 Workshop on Space in Vision, Language, and Embodied AI
- 2025preprint
LogSTOP: Temporal Scores over Prediction Sequences for Matching and Retrieval
Avishree Khare, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Rajeev Alur
arXiv preprint, 2025
- 2025conference
Scalable Multi-Agent Path Finding for Delivery Robot Systems with Temporal and Edge Capacity Constraints on Weighted Graphs
Tomoya Yamaguchi, Ippei Nishitani, Yusuke Ota, Bardh Hoxha, Georgios Fainekos
2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), 2025
- 2025conference
GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
Keyvan Majd, Hardik Parwana, Bardh Hoxha, Steven Hong, Hideki Okamoto, Georgios Fainekos
IEEE Intelligent Transportation Systems Conference (ITSC), 2025
- 2025journal
STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
Yiqi Zhao, Xinyi Yu, Bardh Hoxha, Georgios Fainekos, Jyotirmoy Deshmukh, Lars Lindemann
ACM Transactions on Embedded Computing Systems (TECS), 2025
- 2025journal
Conformal Prediction in the Loop: Risk-Aware Control Barrier Functions for Stochastic Systems with Data-Driven State Estimators
Jiaqi Zhang, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
IEEE Control Systems Letters, 2025
- 2025conference
ProbStar Temporal Logic for Verifying Complex Behaviors of Learning-enabled Systems
Hoang-Dung Tran, Sung Woo Choi, Yuntao Li, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos
28th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2025
- 2025preprint
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Hardik Parwana, Taekyung Kim, Kehan Long, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Dimitra Panagou
arXiv:2506.07325, 2025
- 2025conference
StarV: A Qualitative and Quantitative Verification Tool for Learning-Enabled Systems
Hoang-Dung Tran, Sung Woo Choi, Yuntao Li, Qing Liu, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos
International Conference on Computer Aided Verification (CAV), 2025
- 2025journal
Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
Yiqi Zhao, Emily Zhu, Bardh Hoxha, Georgios Fainekos, Jyotirmoy V Deshmukh, Lars Lindemann
Transactions on Cyber-Physical Systems (TCPS), 2025
- 2025conference
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
- 2025journal
Reachability Analysis of Recurrent Neural Networks
Sung Woo Choi, Yuntao Li, Xiaodong Yang, Tomoya Yamaguchi, Bardh Hoxha, Georgios Fainekos, Danil Prokhorov, Hoang-Dung Tran
Nonlinear Analysis: Hybrid Systems, 2025
- 2025journal
Scaling Learning-based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout
Navid Hashemi, Bardh Hoxha, Danil Prokhorov, Georgios Fainekos, Jyotirmoy V Deshmukh
Transactions on Cyber-Physical Systems, 2025
- 2025conference
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov, Dimitra Panagou
American Control Conference, 2025
- 2025conference
Neural Configuration Distance Function for Continuum Robot Control
Kehan Long, Hardik Parwana, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Nikolay Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
- 2025preprint
MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
Victoria Marie Tuck, Hardik Parwana, Pei-Wei Chen, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, S Shankar Sastry, Sanjit A Seshia
arXiv, 2025
- 2025conference
From Dashcam Videos to Driving Simulations: Stress Testing Automated Vehicles Against Rare Events
Yan Miao, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov, Sayan Mitra
Machine Learning for Autonomous Driving - AAAI, 2025
- 2025conference
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov, Dimitra Panagou
IEEE Conference on Control Technology and Applications (CCTA), 2025
- 2024journal
Querying Perception Streams with Spatial Regular Expressions
Jacob Anderson, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov
Software Tools for Technology Transfer, 2024
- 2024conference
Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
Hardik Parwana, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov
Towards Safe Autonomy: Emerging Requirements, Definitions, and Methods, July 2024
- 2024journal
Scaling Learning-based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout
Navid Hashemi, Bardh Hoxha, Danil Prokhorov, Georgios Fainekos, Jyotirmoy Deshmukh
ACM Transactions on Cyber-Physical Systems, 2024
- 2024conference
LB4TL: Smooth Semantics for Temporal Logic for Scalable Training of Neural Feedback Controllers
Navid Hashemi, Sam Williams, Bardh Hoxha, Danil Prokhorov, Georgios Fainekos, Jyotirmoy Deshmukh
The 8th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), July 2024
- 2024conference
Optimal Planning for Timed Partial Order Specifications
Kandai Watanabe, Georgios Fainekos, Bardh Hoxha, Morteza Lahijanian, Hideki Okamoto, Sriram Sankaranarayanan
2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024
- 2024conference
CBFKit: A Control Barrier Function Toolbox for Robotics Applications
Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
- 2024conference
Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
Mitchell Black, Georgios Fainekos, Bardh Hoxha, Dimitra Panagou
American Control Conference (ACC), 2024
- 2024conference
SMT-Based Dynamic Multi-Robot Task Allocation
Victoria Marie Tuck, Pei-Wei Chen, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, S Shankar Sastry, Sanjit A Seshia
NASA Formal Methods (NFM), 2024
- 2024conference
Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
Shuo Yang, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Rahul Mangharam
American Control Conference (ACC), 2024
- 2024conference
Robust Conformal Prediction for STL Runtime Verification under Distribution Shift
Yiqi Zhao, Bardh Hoxha, Georgios Fainekos, Jyotirmoy V Deshmukh, Lars Lindemann
ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2024
- 2024journal
Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logic
Mohammad Hekmatnejad, Bardh Hoxha, Jyotirmoy V Deshmukh, Yezhou Yang, Georgios Fainekos
International Journal of Robotics Research (IJRR), 2024
- 2023conference
Pattern Matching for Perception Streams
Jacob Anderson, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Danil Prokhorov
International Conference on Runtime Verification
- 2023journal
RTAMT – Runtime Robustness Monitors with Application to CPS and Robotics
Tomoya Yamaguchi, Bardh Hoxha, Dejan Ničković
International Journal on Software Tools for Technology Transfer (STTT), 2023
- 2023conference
Checkmate: Fault Timing Localization for Multi-Robot Scenarios
Ippei Nishitani, Tomoya Yamaguchi, Bardh Hoxha
2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
- 2023conference
Quantitative Verification for Neural Networks using ProbStars
Hoang-Dung Tran, Sungwoo Choi, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Danil Prokhorov
Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control
- 2023conference
Verification of Recurrent Neural Networks with Star Reachability
Hoang Dung Tran, Sung Woo Choi, Xiaodong Yang, Tomoya Yamaguchi, Bardh Hoxha, Danil Prokhorov
Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control
- 2023conference
A Neurosymbolic Approach to the Verification of Temporal Logic Properties of Learning enabled Control Systems
Navid Hashemi, Bardh Hoxha, Tomoya Yamaguchi, Danil Prokhorov, Geogios Fainekos, Jyotirmoy Deshmukh
ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2023
- 2023conference
Risk-awareness in learning neural controllers for temporal logic objectives
Navid Hashemi, Xin Qin, Jyotirmoy V Deshmukh, Georgios Fainekos, Bardh Hoxha, Danil Prokhorov, Tomoya Yamaguchi
2023 American Control Conference (ACC)
- 2023conference
Timed partial order inference algorithm
Kandai Watanabe, Georgios Fainekos, Bardh Hoxha, Morteza Lahijanian, Danil Prokhorov, Sriram Sankaranarayanan, Tomoya Yamaguchi
Proceedings of the International Conference on Automated Planning and Scheduling
- 2023conference
Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions
Mitchell Black, Georgios Fainekos, Bardh Hoxha, Danil Prokhorov, Dimitra Panagou
IEEE International Conference on Robotics and Automation (ICRA), 2023
- 2022conference
Discovering physical interaction vulnerabilities in IoT deployments
Muslum Ozgur Ozmen, Xuansong Li, Andrew Chun-An Chu, Z Berkay Celik, Bardh Hoxha, Xiangyu Zhang
ACM SIGSAC Conference on Computer and Communications Security (CCS), 2022
- 2022workshop
Safety Verification and Repair of Deep Neural Networks
Xiaodong Yang, Tomoya Yamaguchi, Bardh Hoxha, Danil Prokhorov, Taylor T Johnson
Workshop on Formal Verification of Machine Learning (WFVML), 2022
- 2022conference
Runtime Assurance for Autonomous Driving with Neural Reachability
Sergiy Bogomolov, Abdelrahman Hekal, Bardh Hoxha, Tomoya Yamaguchi
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
- 2022conference
Neural network repair with reachability analysis
Xiaodong Yang, Tom Yamaguchi, Hoang-Dung Tran, Bardh Hoxha, Taylor T Johnson, Danil Prokhorov
International Conference on Formal Modeling and Analysis of Timed Systems
- 2021conference
Risk-bounded control with kalman filtering and stochastic barrier functions
Shakiba Yaghoubi, Georgios Fainekos, Tomoya Yamaguchi, Danil Prokhorov, Bardh Hoxha
2021 60th IEEE Conference on Decision and Control (CDC)
- 2021conference
PerceMon: online monitoring for perception systems
Anand Balakrishnan, Jyotirmoy Deshmukh, Bardh Hoxha, Tomoya Yamaguchi, Georgios Fainekos
Runtime Verification: 21st International Conference, RV 2021, Virtual Event, October 11--14, 2021, Proceedings 21
- 2021conference
Safe navigation in human occupied environments using sampling and control barrier functions
Keyvan Majd, Shakiba Yaghoubi, Tomoya Yamaguchi, Bardh Hoxha, Danil Prokhorov, Georgios Fainekos
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- 2021conference
Reachability analysis of deep ReLU neural networks using facet-vertex incidence
Xiaodong Yang, Taylor T Johnson, Hoang-Dung Tran, Tomoya Yamaguchi, Bardh Hoxha, Danil V Prokhorov
HSCC
- 2020journal
Risk-bounded control using stochastic barrier functions
Shakiba Yaghoubi, Keyvan Majd, Georgios Fainekos, Tomoya Yamaguchi, Danil Prokhorov, Bardh Hoxha
IEEE Control Systems Letters
- 2020conference
Search-based test-case generation by monitoring responsibility safety rules
Mohammad Hekmatnejad, Bardh Hoxha, Georgios Fainekos
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
- 2020conference
Specification-guided software fault localization for autonomous mobile systems
Tomoya Yamaguchi, Bardh Hoxha, Danil Prokhorov, Jyotirmoy V Deshmukh
2020 18th ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)
- 2020conference
Application of Simulation-Based Methods on Autonomous Vehicle Control with Deep Neural Network: Work-in-Progress
Yuji Date, Takeshi Baba, Bardh Hoxha, Tomoya Yamaguchi, Danil Prokhorov
2020 International Conference on Embedded Software (EMSOFT)
- 2020conference
Tltk: A toolbox for parallel robustness computation of temporal logic specifications
Joseph Cralley, Ourania Spantidi, Bardh Hoxha, Georgios Fainekos
Runtime Verification: 20th International Conference, RV 2020, Los Angeles, CA, USA, October 6--9, 2020, Proceedings 20
- 2019conference
Robustness of specifications and its applications to falsification, parameter mining, and runtime monitoring with s-taliro
Georgios Fainekos, Bardh Hoxha, Sriram Sankaranarayanan
Runtime Verification: 19th International Conference, RV 2019, Porto, Portugal, October 8--11, 2019, Proceedings 19
- 2018conference
Experience report: Application of falsification methods on the UxAS system
Cumhur Erkan Tuncali, Bardh Hoxha, Guohui Ding, Georgios Fainekos, Sriram Sankaranarayanan
NASA Formal Methods: 10th International Symposium, NFM 2018, Newport News, VA, USA, April 17-19, 2018, Proceedings 10
- 2018journal
Mission planning for multiple vehicles with temporal specifications using UxAS
Luan V Nguyen, Bardh Hoxha, Taylor T Johnson, Georgios Fainekos
IFAC-PapersOnLine
- 2017journal
Formal requirement debugging for testing and verification of cyber-physical systems
Adel Dokhanchi, Bardh Hoxha, Georgios Fainekos
ACM Transactions on Embedded Computing Systems (TECS)
- 2017conference
Vacuity aware falsification for MTL request-response specifications
Adel Dokhanchi, Shakiba Yaghoubi, Bardh Hoxha, Georgios Fainekos
2017 13th IEEE Conference on Automation Science and Engineering (CASE)
- 2017journal
Mining parametric temporal logic properties in model-based design for cyber-physical systems
Bardh Hoxha, Adel Dokhanchi, Georgios Fainekos
International Journal on Software Tools for Technology
- 2016conference
An efficient algorithm for monitoring practical TPTL specifications
Adel Dokhanchi, Bardh Hoxha, Cumhur Erkan Tuncali, Georgios Fainekos
2016 ACM/IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)
- 2016workshop
Pareto front exploration for parametric temporal logic specifications of cyber-physical systems
Bardh Hoxha, Georgios Fainekos
Workshop on Monitoring and Testing of Cyber-Physical Systems
- 2016conference
MITL specification debugging for monitoring of cyber-physical systems
Adel Dokhanchi, Bardh Hoxha, Georgios Fainekos
Electronic Proceedings in Theoretical Computer Science, EPTCS
- 2016workshop
Planning in Dynamic Environments Through Temporal Logic Monitoring
Bardh Hoxha, Georgios Fainekos
AAAI Workshop: Planning for Hybrid Systems
- 2015conference
Metric interval temporal logic specification elicitation and debugging
Adel Dokhanchi, Bardh Hoxha, Georgios Fainekos
2015 ACM/IEEE International Conference on Formal Methods and Models for Codesign (MEMOCODE)
- 2015conference
VISPEC: A graphical tool for elicitation of MTL requirements
Bardh Hoxha, Nikolaos Mavridis, Georgios Fainekos
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- 2014workshop
Towards formal specification visualization for testing and monitoring of cyber-physical systems
Bardh Hoxha, Hoang Bach, Houssam Abbas, Adel Dokhanchi, Yoshihiro Kobayashi, Georgios Fainekos
Int. Workshop on Design and Implementation of Formal Tools and Systems
- 2014conference
On-line monitoring for temporal logic robustness
Adel Dokhanchi, Bardh Hoxha, Georgios Fainekos
International Conference on Runtime Verification
- 2014preprint
Conformance testing as falsification for cyber-physical systems
Houssam Abbas, Bardh Hoxha, Georgios Fainekos, Jyotirmoy V Deshmukh, James Kapinski, Koichi Ueda
arXiv preprint arXiv:1401.5200
- 2014conference
WiP Abstract: Conformance Testing as Falsification for Cyber-Physical Systems
H. Abbas, B. Hoxha, G. Fainekos, J. V. Deshmukh, J. Kapinski, K. Ueda
ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Berlin, Germany, April 2014
- 2014conference
Robustness-guided temporal logic testing and verification for stochastic cyber-physical systems
Houssam Abbas, Bardh Hoxha, Georgios Fainekos, Koichi Ueda
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent
- 2014conference
Using S-TaLiRo on industrial size automotive models
Bardh Hoxha, Houssam Abbas, Georgios Fainekos
Proc. of Applied Verification for Continuous and Hybrid Systems
- 2014conference
System Testing with S-TaLiRo: Recent Functionality and Additions
Bardh Hoxha, Adel Dokhanchi, Georgios Fainekos
ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2014
- 2012conference
Querying parametric temporal logic properties on embedded systems
Hengyi Yang, Bardh Hoxha, Georgios Fainekos
IFIP International Conference on Testing Software and Systems
- conference
ARCH-COMP18 Category Report: Results on the Falsification Benchmarks
Adel Dokhanchi, Shakiba Yaghoubi, Bardh Hoxha, Georgios Fainekos, Gidon Ernst, Zhenya Zhang, Paolo Arcaini, Ichiro Hasuo, Sean Sedwards
ARCH
- conference
ARCH-COMP17 Category Report: Preliminary Results on the Falsification Benchmarks
Adel Dokhanchi, Shakiba Yaghoubi, Bardh Hoxha, Georgios Fainekos
ARCH
- workshop
Benchmarks for Temporal Logic Requirements for Automotive Systems
Bardh Hoxha, Houssam Abbas, Georgios Fainekos
Workshop on Applied Verification for Continuous and Hybrid Systems (ARCH)