Ivan Ruchkin

Model-Based Adaptation for Robotics Software

2019 · IEEE Software

We developed model-based adaptation, an approach that leverages models of software and its environment to enable automated adaptation. The goal of our approach is to build long-lasting software systems that can effectively adapt to changes …

Zero-shot Safety Prediction for Autonomous Robots with Foundation World Models

2024 · arXiv (Cornell University)

A world model creates a surrogate world to train a controller and predict safety violations by learning the internal dynamic model of systems. However, the existing world models rely solely on statistical learning of how …