{"id":"https://openalex.org/W4413078630","doi":"https://doi.org/10.1145/3748818","title":"Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications","display_name":"Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications","publication_year":2025,"publication_date":"2025-07-17","ids":{"openalex":"https://openalex.org/W4413078630","doi":"https://doi.org/10.1145/3748818"},"language":"en","primary_location":{"id":"doi:10.1145/3748818","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3748818","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1145/3748818","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029291348","display_name":"Yiqi Zhao","orcid":"https://orcid.org/0009-0007-4283-6358"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I88874673","display_name":"Thomas University","ror":"https://ror.org/01p18bt48","country_code":"US","type":"education","lineage":["https://openalex.org/I88874673"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiqi Zhao","raw_affiliation_strings":["Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","Thomas Lord Department of Computer Science, University of Southern California, USA"],"raw_orcid":"https://orcid.org/0009-0007-4283-6358","affiliations":[{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I88874673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000886562","display_name":"Emily Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I88874673","display_name":"Thomas University","ror":"https://ror.org/01p18bt48","country_code":"US","type":"education","lineage":["https://openalex.org/I88874673"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emily Zhu","raw_affiliation_strings":["Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","Thomas Lord Department of Computer Science, University of Southern California, USA"],"raw_orcid":"https://orcid.org/0009-0007-5465-0032","affiliations":[{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I88874673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251694","display_name":"Bardh Hoxha","orcid":"https://orcid.org/0000-0001-6255-7566"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor North America (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bardh Hoxha","raw_affiliation_strings":["Toyota NA R&D, Ann Arbor, Michigan, USA","Toyota NA R&D, USA"],"raw_orcid":"https://orcid.org/0000-0001-6255-7566","affiliations":[{"raw_affiliation_string":"Toyota NA R&D, Ann Arbor, Michigan, USA","institution_ids":[]},{"raw_affiliation_string":"Toyota NA R&D, USA","institution_ids":["https://openalex.org/I4210093665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058732387","display_name":"Georgios Fainekos","orcid":"https://orcid.org/0000-0002-0456-2129"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor North America (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georgios Fainekos","raw_affiliation_strings":["Toyota NA R&D, Ann Arbor, Michigan, USA","Toyota NA R&D, USA"],"raw_orcid":"https://orcid.org/0000-0002-0456-2129","affiliations":[{"raw_affiliation_string":"Toyota NA R&D, Ann Arbor, Michigan, USA","institution_ids":[]},{"raw_affiliation_string":"Toyota NA R&D, USA","institution_ids":["https://openalex.org/I4210093665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057473400","display_name":"Jyotirmoy V. Deshmukh","orcid":"https://orcid.org/0000-0003-4683-5540"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I88874673","display_name":"Thomas University","ror":"https://ror.org/01p18bt48","country_code":"US","type":"education","lineage":["https://openalex.org/I88874673"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jyotirmoy V. Deshmukh","raw_affiliation_strings":["Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","Thomas Lord Department of Computer Science, University of Southern California, USA"],"raw_orcid":"https://orcid.org/0000-0003-4683-5540","affiliations":[{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I88874673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027184150","display_name":"Lars Lindemann","orcid":"https://orcid.org/0000-0003-3430-6625"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I88874673","display_name":"Thomas University","ror":"https://ror.org/01p18bt48","country_code":"US","type":"education","lineage":["https://openalex.org/I88874673"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lars Lindemann","raw_affiliation_strings":["Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","Thomas Lord Department of Computer Science, University of Southern California, USA"],"raw_orcid":"https://orcid.org/0000-0003-3430-6625","affiliations":[{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Thomas Lord Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I88874673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1819,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89592749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"9","issue":"4","first_page":"1","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7517774105072021},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.7066042423248291},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6508284211158752},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.48324403166770935},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.465246319770813},{"id":"https://openalex.org/keywords/computation-tree-logic","display_name":"Computation tree logic","score":0.46334582567214966},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4403440058231354},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4270366430282593},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.40529656410217285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33479392528533936},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32001829147338867}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7517774105072021},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.7066042423248291},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6508284211158752},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.48324403166770935},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.465246319770813},{"id":"https://openalex.org/C198008173","wikidata":"https://www.wikidata.org/wiki/Q1040040","display_name":"Computation tree logic","level":3,"score":0.46334582567214966},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4403440058231354},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4270366430282593},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.40529656410217285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33479392528533936},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32001829147338867},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3748818","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3748818","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},{"id":"pmh:doi:10.3929/ethz-c-000791112","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/791112","pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1145/3748818","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3748818","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W828139470","https://openalex.org/W1505569957","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1560643704","https://openalex.org/W1963649370","https://openalex.org/W1993678874","https://openalex.org/W2011465746","https://openalex.org/W2049399166","https://openalex.org/W2055561145","https://openalex.org/W2064675550","https://openalex.org/W2100559484","https://openalex.org/W2112796928","https://openalex.org/W2119821739","https://openalex.org/W2260243663","https://openalex.org/W2758427605","https://openalex.org/W2787596386","https://openalex.org/W2963199590","https://openalex.org/W2964060211","https://openalex.org/W2978287595","https://openalex.org/W2979249584","https://openalex.org/W3022362085","https://openalex.org/W3026534080","https://openalex.org/W3086351065","https://openalex.org/W3092012383","https://openalex.org/W3129749699","https://openalex.org/W3159651929","https://openalex.org/W3165590793","https://openalex.org/W3176015044","https://openalex.org/W3201396315","https://openalex.org/W3205889124","https://openalex.org/W4241313718","https://openalex.org/W4283361469","https://openalex.org/W4317651116","https://openalex.org/W4368362605","https://openalex.org/W4387225557","https://openalex.org/W4388675101","https://openalex.org/W4389235528","https://openalex.org/W4391021526","https://openalex.org/W4402261497"],"related_works":["https://openalex.org/W1532447905","https://openalex.org/W858755136","https://openalex.org/W1981889059","https://openalex.org/W3005864166","https://openalex.org/W31328628","https://openalex.org/W2143025323","https://openalex.org/W3163822336","https://openalex.org/W3091862538","https://openalex.org/W1969550103","https://openalex.org/W2752596881"],"abstract_inverted_index":{"Cyber-physical":[0],"systems":[1,27,58],"(CPS)":[2],"designed":[3],"in":[4,13,18,245],"simulators,":[5],"often":[6],"consisting":[7],"of":[8,81,111,127,137,145,226,255,265,276],"multiple":[9],"interacting":[10],"agents":[11],"(e.g.,":[12],"multi-agent":[14,57],"formations),":[15],"behave":[16],"differently":[17],"the":[19,68,79,82,103,109,132,142,146,178,194,223,253,263,270,274,281],"real-world.":[20],"We":[21,153,240],"would":[22],"like":[23],"to":[24,106,108,116,177,192,203,233,259],"verify":[25],"these":[26,122,279],"during":[28,98],"runtime":[29,39,198],"when":[30],"they":[31],"are":[32,154,280],"deployed.":[33],"Thus,":[34],"we":[35,124,161,174,186,217,251],"propose":[36],"robust":[37,200,219,224],"predictive":[38,86,190],"verification":[40,271],"(RPRV)":[41],"algorithms":[42,104,237,258,285],"for:":[43],"(1)":[44,71],"general":[45,171],"stochastic":[46,56],"CPS":[47],"under":[48,60,288],"signal":[49],"temporal":[50],"logic":[51,62,118,183,231],"(STL)":[52],"tasks,":[53],"and":[54,101,113,150,165,181,199,229,261],"(2)":[55,85],"(MAS)":[59],"spatio-temporal":[61,117,182,227],"tasks.":[63,119,184],"The":[64],"RPRV":[65,168,236,257],"problem":[66],"presents":[67],"following":[69],"challenges:":[70],"there":[72],"may":[73,94],"not":[74],"be":[75,114],"sufficient":[76],"data":[77],"on":[78,89,131,213,269],"behavior":[80,196],"deployed":[83],"CPS,":[84,172],"models":[87],"based":[88],"design":[90,151],"phase":[91],"system":[92,147,195],"trajectories":[93],"encounter":[95],"distribution":[96,210,289],"shift":[97],"real-world":[99],"deployment,":[100],"(3)":[102],"need":[105],"scale":[107],"complexity":[110],"MAS":[112,179,260,287],"applicable":[115],"To":[120,273],"address":[121],"challenges,":[123],"assume":[125],"knowledge":[126],"an":[128,138,163,166],"upper":[129],"bound":[130],"statistical":[133],"distance":[134],"(in":[135],"terms":[136],"f":[139],"-divergence)":[140],"between":[141],"trajectory":[143,267],"distributions":[144],"at":[148,197],"deployment":[149],"time.":[152],"motivated":[155],"by":[156,207],"our":[157,214,243,256,277],"prior":[158,215],"work":[159],"where":[160,250],"proposed":[162],"accurate":[164],"interpretable":[167],"algorithm":[169],"for":[170,209,238,286],"which":[173],"here":[175],"extend":[176],"setting":[180],"Specifically,":[185],"use":[187],"a":[188,246],"learned":[189],"model":[191],"estimate":[193],"conformal":[201,220],"prediction":[202,221],"obtain":[204,234],"probabilistic":[205],"guarantees":[206],"accounting":[208],"shifts.":[211],"Building":[212],"work,":[216],"perform":[218],"over":[222],"semantics":[225],"reach":[228],"escape":[230],"(STREL)":[232],"centralized":[235],"MAS.":[239],"empirically":[241],"validate":[242],"results":[244],"drone":[247],"swarm":[248],"simulator,":[249],"show":[252],"scalability":[254],"analyze":[262],"impact":[264],"different":[266],"predictors":[268],"result.":[272],"best":[275],"knowledge,":[278],"first":[282],"statistically":[283],"valid":[284],"shift.":[290]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}