On Synthesis of Metric Interval Temporal Logics

Automated mining of formal specifications is vital for verifying real-time systems. However, existing passive learning approaches remain restricted to deterministic specifications or limited fragments of Timed Regular Expressions (TRE). To our knowledge, this paper presents the first framework to tackle \emph{precise} passive learning for an expressive timed logic, \emph{Metric Interval Temporal Logic} (MITL) without relying on predefined templates or restricted logic fragments. Our approach formally reduces the timed learning problem into a scalable untimed one. By identifying quantitative timing differences between positive and negative traces, we synthesise precise timed constraints and inject them as new Boolean atomic propositions. This embeds timing into the alphabet, delegating the complex formula evaluation to highly optimised, off-the-shelf untimed LTL tools. Crucially, our framework is complete, guaranteeing a separating specification can always be found. We evaluate our implementation across several benchmarks, demonstrating the effectiveness of our approach.

KONTOGRAPH: Verified Point-in-Time Feature Consistency and Amortised Explanation for Real-Time Anti-Money Laundering under a 200 ms Decision Budget

Regulation (EU) 2024/886 obliges European payment service providers to settle euro credit transfers in under ten seconds, around the clock. This removes both the overnight batch window in which anti-money-laundering (AML) analytics traditionally ran and the settlement delay that made recovery possible, forcing detection, explanation and decision inside a single-digit-second envelope. We present KONTOGRAPH, an end-to-end AML pipeline for the SEPA Instant rail built under a self-imposed 200 ms 99th-percentile budget, and report an empirical study on 1,562,860 simulated payments with injected typologies and deliberately incomplete labels. Three findings are of interest beyond the system itself. First, a temporal graph network with per-node memory improves PR-AUC over a gradient-boosted tabular baseline from 0.0053 to 0.1717, a paired day-blocked bootstrap difference of +0.166 with 95% CI [0.105, 0.241]; per-node memory alone more than doubles the score. Second, expressing each feature once and compiling it to three execution backends, with equivalence enforced by property-based tests that perturb the future, surfaced three point-in-time violations that code review had passed--each of which would have inflated reported performance. Third, and most consequential for practice, exporting the deployed tree ensemble to ONNX changed only $7.4 \times 10^{-8}$ in mean score yet altered 0.26% of decisions and inflated the alert volume by 12%, because 32-bit accumulation perturbs scores across a cost-optimal threshold of $3.98 \times 10^{-4}$. We argue that a serving-format conversion must be treated as a model change until measured, and that fidelity metrics for subgraph explainers can be vacuous when candidate neighbourhoods are small--a null result we report in full.

EcoVLA: Energy-Efficient Device-Edge Co-Inference for Vision-Language-Action Models under Real-Time Constraints

Vision-Language-Action (VLA) models have emerged as a promising foundation for Embodied AI, but their high inference cost poses significant challenges for deployment in robotic systems. In practice, on-device inference is constrained by limited compute capacity and energy budgets, struggling to simultaneously satisfy real-time control and energy efficiency requirements. Alternatively, offloading the inference workload to an edge server is susceptible to fluctuations in system conditions, introducing unpredictable latency risks. Device-edge co-inference offers a promising solution, but systematic research tailored to VLA models remains scarce, particularly a unified co-inference framework that jointly addresses real-time constraints and system-level energy efficiency. Thus, we propose EcoVLA, an adaptive device-edge co-inference framework for VLA models that maximizes system energy efficiency under real-time constraints. EcoVLA first introduces a unified stage-level abstraction over different VLA paradigms, establishing an architecture-agnostic co-inference design space. It then formulates a joint device-edge-network latency and energy prediction model to enable rapid runtime evaluation of candidate co-inference schemes. Building on this, EcoVLA continuously selects the energy-optimal scheme satisfying real-time constraints with millisecond-level overhead, adapting to runtime variations in network and system states. Furthermore, EcoVLA incorporates a lightweight transmission mechanism for inter-stage intermediate tensors to reduce the communication overhead incurred by cross-device collaboration. Experimental results across VLA models show that EcoVLA improves system energy efficiency by up to 236% over existing co-inference approaches under a 20 Hz action output frequency constraint, while consistently maintaining SLO satisfaction under dynamic network and edge workload conditions.

MM-BEV: Enhancing Timeliness by Computing Where and When it Matters

Multimodal bird's-eye-view (BEV) perception combines LiDAR depth accuracy with dense camera semantics, but its high computational cost and imperfect sensing conditions make real-time deployment challenging. Existing methods largely compress individual detectors and overlook three opportunities: structured sparsity within camera and LiDAR inputs, timing misalignment between modalities, and the fact that many detected objects do not affect the planner's immediate action. We present MM-BEV, a real-time multimodal BEV system guided by a simple principle: compute where and when it matters. MM-BEV divides perception into mandatory work for safety-critical objects within braking distance of the ego vehicle and with short time-to-collision (TTC), and optional work for less urgent regions. It prioritizes mandatory work and reduces or sheds optional work under tight compute budgets. MM-BEV integrates four mechanisms: (1) a criticality-ranked temporal ROI selector based on motion-extrapolated detections from prior frames; (2) sparse, ROI-aware feature extraction using shared-shape camera crops at context-adaptive resolution and ROI-aware LiDAR voxelization; (3) a latency-aware coordinator that adapts LiDAR sweeps, image resolution, and keyframes according to scene dynamics and TTC; and (4) an asynchronous scheduler that decouples sensing from inference and skips stale frames. On nuScenes, MM-BEV reduces inference latency by 1.96x and end-to-end latency by 2.93x, with no loss in geometry-critical recall and only a 0.2 percentage-point drop in safety-critical recall. On a Clearpath Husky A300 equipped with an Ouster-128 LiDAR, BEV cameras, and a Jetson AGX Orin, MM-BEV further reduces mean latency by 2.11x, demonstrating its potential for real-world autonomous systems.

PROVE-RT: Generating Mechanized Theorem Prover Scripts for Real-Time Systems using LLMs

Schedulability analysis is essential for certifying real-time systems, but existing tests are often developed through pen-and-paper proofs that are difficult to scale, validate, and maintain. Mechanized verification in PROSA/ROCQ offers a rigorous alternative, yet manually constructing such proofs requires substantial domain expertise and proof-engineering effort. Recent successes of large language models (LLMs) across a wide range of tasks make them promising candidates for generating PROSA/ROCQ scripts for mechanized theorem provers. However, state-of-the-art LLMs often lack the PROSA-specific knowledge required to correctly use its modeling abstractions and proof patterns. This paper introduces PROVE-RT, an LLM-assisted framework for generating PROSA/ROCQ scripts to mechanize schedulability analyses in real-time systems literature. PROVE-RT guides generation through dependency-aware informal sketches, retrieval from processed PROSA documentation, staged skeleton generation, and proof completion. We construct a mechanization-oriented corpus from 1, 191 real-time systems papers, containing 13, 134 informal sketches with dependency information. On a curated evaluation set, direct prompting of state-of-the-art LLMs fails to reliably generate valid PROSA mechanizations, whereas PROVE-RT achieves a success rate of 44.7%. These results show that retrieval-guided and staged LLM assistance can improve automated mechanization of schedulability analysis in PROSA/ROCQ.

RT-SHCUA: Real-Time Self-Hosted Computer-Use Agent for UAV Control

Natural-language control offers a promising interface for unmanned aerial vehicles (UAVs), but directly applying self-hosted computer-use agents (SHCUAs) to UAV control introduces a structural mismatch. SHCUAs are designed for interactive host-side tool use, where delayed agent iterations are often acceptable. UAV control, however, is coupled with continuously changing physical states, strict timing constraints, safety risks, and security accountability. A stale, unauthorized, or tampered agent decision may therefore lead to unsafe or untraceable vehicle behavior. This paper proposes a real-time and security-oriented restructuring of SHCUA-based UAV control. Instead of allowing an SHCUA to directly issue flight commands, we transform its outputs into contract-bound UAV skill invocations with explicit timing, state, authority, fallback, and evidence semantics. Based on this abstraction, we design an architecture that separates semantic reasoning from onboard execution and security/safety enforcement. Slow cloud or edge reasoning is used for mission understanding, while onboard components validate and dispatch only timely, authorized, and state-consistent skills. Security-critical enforcement points can be protected by TEE-style or microcontroller isolation mechanisms without moving the full language agent or high-frequency flight-control loop into trusted components. Prototype evaluation shows that RT-SHCUA maintains bounded task-level responsiveness while supporting degraded handling, trusted admission, and auditable evidence preservation for SHCUA-mediated UAV actions.

Terastal: Layer-Variant-based Scheduling for Real-Time Multi-DNN Workloads on Heterogeneous Accelerators

Heterogeneous DNN accelerators improve soft real-time multi-DNN execution by mapping each layer to its preferred accelerator to reduce latency. However, under skewed workloads, large layer-latency differences across accelerators limit scheduling flexibility and increase deadline misses. To address this challenge, we introduce layer variants, customized layer implementations that reduce latency gaps on non-preferred accelerators. We then present Terastal, a soft real-time framework for layer-variant design and scheduling on heterogeneous DNN accelerators. Terastal combines offline heterogeneity-aware virtual budget assignment and layer-variant design, and online scheduling to jointly optimize accelerator mapping and variant selection under timing and accuracy constraints. Experimental results show that Terastal reduces deadline miss rate per model by 40.58%, 30.53%, and 36.27% compared with FCFS, EDF, and DREAM, respectively, while incurring only 2.24% average normalized accuracy loss across models with variants.