Publications

Conference Papers

• Yuang Geng, Junkai Zhou, Kang Yang, Pan He, Zhuoyang Zhou, Jose C. Principe, Joel Harley, Ivan Ruchkin.
  MLE-UVAD: Minimal Latent Entropy Autoencoder for Fully Unsupervised Video Anomaly Detection [Arxiv].
  Preprint, 2026.
• Yuang Geng, Zhuoyang Zhou, Zhongzheng Zhang, Siyuan Pan, Hoang-Dung Tran, Ivan Ruchkin.
  Deterministic World Models for Verification of Closed-loop Vision-based Systems [Arxiv] [Github].
  Preprint, 2025.
• Chengyu Li, Saleh Faghfoorian, Ivan Ruchkin.
  What Does It Take to Get Guarantees? Systematizing Assumptions in Cyber-Physical Systems [Arxiv].
  Preprint, 2025.
• Christopher Oeltjen*, Carson Sobolewski*, Saleh Faghfoorian*, Lorant Domokos, Giancarlo Vidal, Ivan Ruchkin.
  Online Slip Detection and Friction Coefficient Estimation for Autonomous Racing [Arxiv] [Video].
  Preprint, 2025. * Co-first authors.
• Zhenjiang Mao, Mrinall Eashaan Umasudhan, Ivan Ruchkin.
  Physically Interpretable World Models via Weakly Supervised Representation Learning [Arxiv] [Poster] [Demo] [Github]. In Proceedings of the 17th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Saint Malo, France, 2026.
• Wade Fortney, Dhruv Kushwaha, Zhenjiang Mao, Anuj Papriwal, Ivan Ruchkin, Christophe Bobda, and Zoleikha Biron.
  Attack Resilience of UAVs with Embedded FPGAs.
  In Proceedings of the 19th IEEE Dallas Circuits and Systems Conference (DCAS), 2026.
• Jordan Peper, Yan Miao, Sayan Mitra, and Ivan Ruchkin.
  Towards Unified Probabilistic Verification and Validation of Vision-Based Autonomy [Arxiv] [Github].
  In Proceedings of the International Symposium on Automated Technology for Verification and Analysis (ATVA), Bangalore, India, 2025.
• Matthew Cleaveland, Pengyuan Lu, Oleg Sokolsky, Insup Lee, Ivan Ruchkin.
  Conservative Perception Models for Probabilistic Model Checking [Arxiv] [UIUC] [Github] [Slides].
  In Proceedings of the Allerton Conference on Communication, Control, and Computing, Urbana, Illinois, 2025. Invited paper.
• Carson Sobolewski, Zhenjiang Mao, Kshitij Vejre, Ivan Ruchkin.
  Generalizable Image Repair for Robust Visual Autonomous Racing [Arxiv] [Poster 1] [Poster 2] [Github] [Video] [Slides].
  In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 2025.
• Yuang Geng, Yang Zhou, Yuyang Zhang, Zhongzheng Ren Zhang, Kang Yang, Tyler Ruble, Giancarlo Vidal, and Ivan Ruchkin.
  Unsupervised Anomaly Detection Improves Imitation Learning for Autonomous Racing [IEEE] [Poster] [Video] [Slides].
  In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2025.
• Jordan Peper*, Zhenjiang Mao*, Yuang Geng, Siyuan Pan, Ivan Ruchkin.
  Four Principles for Physically Interpretable World Models [Arxiv] [OpenReview] [Github] [Poster] [Slides].
  In Proceedings of the 2nd International Conference on Neuro-symbolic Systems (NeuS), Philadelphia, PA, 2025. * Co-first authors.
• Thomas Waite, Yuang Geng, Trevor Turnquist, Ivan Ruchkin*, and Radoslav Ivanov*.
  State-Dependent Conformal Perception Bounds for Neuro-Symbolic Verification of Autonomous Systems [Arxiv] [Poster] [Slides summary] [Slides talk] [Github].
  In Proceedings of the 2nd International Conference on Neuro-symbolic Systems (NeuS), Philadelphia, PA, 2025. * Co-last authors.
• Pengyuan Lu, Oleg Sokolsky, Insup Lee, and Ivan Ruchkin.
  Accelerating Neural Policy Repair with Preservation via Stability-Plasticity Interpolation [ACM] [Slides].
  In Proceedings of the International Conference on Cyber-Physical Systems (ICCPS), Irvine, CA, 2025.
• Souradeep Dutta, Michele Caprio, Vivian Lin, Matthew Cleaveland, Kuk Jin Jang, Ivan Ruchkin, Oleg Sokolsky, Insup Lee.
  Distributionally Robust Statistical Verification with Imprecise Neural Networks [Arxiv] [ACM] [Slides].
  In Proceedings of the International Conference on Hybrid Systems: Computation and Control (HSCC), Irvine, CA, 2025. 
• Xi Zheng, Ziyang Li, Ivan Ruchkin, Ruzica Piskac, Miroslav Pajic.
  NeuroStrata: Harnessing Neurosymbolic Paradigms for Improved Design, Testability, and Verifiability of Autonomous CPS [Arxiv] [ACM] [Slides].
  In Proceedings of the International Conference on the Foundations of Software Engineering (FSE) – Ideas, Visions and Reflections Track (IVR), Trondheim, Norway, 2025.
• Yuang Geng, Jake Brandon Baldauf, Souradeep Dutta, Chao Huang, Ivan Ruchkin.
  Bridging Dimensions: Confident Reachability for High-Dimensional Controllers [Arxiv] [Springer] [Github] [Poster 1] [Poster 2] [Slides] [Demo (w/ subs)] [Demo (w/o subs)] [Talk].
  In Proceedings of the International Symposium on Formal Methods (FM), Milan, Italy, 2024.
• Zhenjiang Mao, Carson Sobolewski, Ivan Ruchkin.
  How Safe Am I Given What I See? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy [PMLR] [Arxiv] [Poster 2023] [Poster 2024] [Github].
  In Proceedings of the Annual Learning for Dynamics & Control Conference (L4DC), Oxford, UK, 2024. 
• Pengyuan Lu, Matthew Cleaveland, Oleg Sokolsky, Insup Lee, Ivan Ruchkin.
  Repairing Learning-Enabled Controllers While Preserving What Works [Arxiv] [IEEE] [Github] [Slides].
  In Proceedings of the International Conference on Cyber-Physical Systems (ICCPS), Hong Kong, China, 2024.
• Sydney Pugh, Ivan Ruchkin, Insup Lee, James Weimer.
  Curating Naturally Adversarial Datasets for Learning-Enabled Medical Cyber-Physical Systems [Arxiv] [IEEE] [Github] [Slides].
  In Proceedings of the International Conference on Cyber-Physical Systems (ICCPS), Hong Kong, China, 2024. Best Paper Award Finalist.
• Matthew Cleaveland, Oleg Sokolsky, Insup Lee, Ivan Ruchkin.
  Conservative Safety Monitors of Stochastic Dynamical Systems [ArXiv] [Springer] [Poster] [Slides] [Github].
  In Proceedings of the NASA Formal Methods Symposium (NFM), Houston, TX, 2023.
• Pengyuan Lu, Ivan Ruchkin, Matthew Cleaveland, Oleg Sokolsky, Insup Lee. 
  Causal Repair of Learning-Enabled Cyber-Physical Systems [ArXiv] [IEEE] [Slides] [Github].
  In Proceedings of the International Conference on Assured Autonomy (ICAA), Baltimore, MD, 2023.
• Ivan Ruchkin, Matthew Cleaveland, Radoslav Ivanov, Pengyuan Lu, Taylor Carpenter, Oleg Sokolsky, Insup Lee.
  Confidence Composition for Monitors of Verification Assumptions [PDF] [ArXiv] [IEEE] [BiBTeX] [Slides] [Talk].
  In Proceedings of the International Conference on Cyber-Physical Systems (ICCPS), Milan, Italy, 2022.
• Matthew Cleaveland, Ivan Ruchkin, Oleg Sokolsky, Insup Lee.
  Monotonic Safety for Scalable and Data-Efficient Probabilistic Safety Analysis [PDF] [ArXiv] [IEEE] [BiBTeX] [Talk] [Github].
  In Proceedings of the International Conference on Cyber-Physical Systems (ICCPS), Milan, Italy, 2022.
• Sydney Pugh, Ivan Ruchkin, Christopher Bonafide, Sara DeMauro, Oleg Sokolsky, Insup Lee, James Weimer.
  High-Confidence Data Programming for Evaluating Suppression of Physiological Alarms [PDF] [IEEE] [BiBTeX] [Slides].
  In Proceedings of the Conference on Connected Health: Applications, Systems and Engineering Technologies (CHASE). Washington, D.C., 2021.
• Alan Ismaiel, Ivan Ruchkin, Jason Shu, Oleg Sokolsky, Insup Lee.
  Data Generation with PROSPECT: a Probability Specification Tool. [PDF] [ACM] [IEEE] [Slides] [BiBTeX] [PROSPECT Online] [GitHub].
  In Proceedings of the Winter Simulation Conference (WinterSim). Phoenix, Arizona, 2021. Best Contributed Theoretical Paper.
• Ashutosh Pandey, Ivan Ruchkin, Bradley Schmerl, David Garlan.
  Hybrid Planning Using Learning and Model Checking for Autonomous Systems. [PDF] [BiBTeX] [Supplement] [Github] [IEEE].
  In Proceedings of the International Conference on Autonomic Computing and Self-Organizing Systems (ACSOS), Washington, DC, USA, 2020.
• Ivan Ruchkin, Joshua Sunshine, Grant Iraci, Bradley Schmerl, David Garlan.
  IPL: An Integration Property Language for Multi-Model Cyber-Physical Systems [PDF] [BiBTeX] [Appendix] [Github] [Slides] [Video] [Springer].
  In Proceedings of the 22nd International Symposium on Formal Methods (FM). Oxford, UK, 2018.
• Ashutosh Pandey, Ivan Ruchkin, Bradley Schmerl, Javier Camara.
  Towards a Formal Framework for Hybrid Planning in Self-Adaptation [PDF] [BiBTeX] [Slides] [ACM] [IEEE].
  In Proceedings of the 12th International Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS). Buenos Aires, Argentina, 2017.
• Ivan Ruchkin, Bradley Schmerl, David Garlan.
  Architectural Abstractions for Hybrid Programs [PDF] [BiBTeX] [ACM] [Slides].
  In Proceedings of the 18th International Symposium on Component-Based Software Engineering (CBSE). Montreal, Canada, 2015. CBSE 2015 Distinguished Paper Award.
• Ivan Ruchkin, Dionisio de Niz, Sagar Chaki, David Garlan.
  Contract-Based Integration of Cyber-Physical Analyses [PDF] [BiBTeX] [ACM] [Poster] [Slides].
  In Proceedings of the 14th International Conference on Embedded Sofware (EMSOFT). New Delhi, India, 2014.
• David Garlan, Vishal Dwivedi, Ivan Ruchkin, Bradley Schmerl.
  Foundations and Tools for End-User Architecting [PDF] [BiBTeX] [Springer].
  In Proceedings of the 17th Monterey Workshop on Development, Operation, and Management of Large-Scale Complex IT Systems. Oxford, UK, 2012.
• Ivan Ruchkin, Vladimir Prus.
  Single-Window Integrated Development Environment [PDF] [BiBTeX] [Slides 1] [Slides 2].
  In Proceedings of the 4th Spring/Summer Young Researchers’ Colloquium on Software Engineering (SYRCoSE’10). Nizhny Novgorod, Russia, 2010.

Journal Papers

• Yuang Geng*, Thomas Waite*, Trevor Turnquist, Radoslav Ivanov^†, Ivan Ruchkin^†.
  Statistical-Symbolic Verification of Perception-Based Autonomous Systems using State-Dependent Conformal Prediction. [Arxiv]
  In submission, 2025. * Co-first authors. ^† Co-last authors.
• Zhenjiang Mao, Mrinall Eashaan Umasudhan, Ivan Ruchkin.
  How Safe Will I Be Given What I Saw? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy [Arxiv] [Github].
  In submission, 2025.
• Pengyuan Lu, Matthew Cleaveland, Oleg Sokolsky, Insup Lee, Ivan Ruchkin.
  Repairing Neural Network-based Control Policies with Safety Preservation [Cambridge] [Github].
  In Research Directions: Cyber-Physical Systems, 2025.
• Sydney Pugh, Ivan Ruchkin, James Weimer, Insup Lee.
  Evaluating Robustness of Learning-Enabled Medical Cyber-Physical Systems with Naturally Adversarial Datasets [ACM] [Github].
  In the ACM Transactions on Cyber-Physical Systems (TCPS), 2025.
• Ankica Barišić, Jácome Cunha, Ivan Ruchkin, Ana Moreira, João Araújo, Moharram Challenger, Dušan Savić, Vasco Amaral.
  Modelling Sustainability in Cyber-Physical Systems: a Systematic Mapping Study [Elsevier].
  In Elsevier Sustainable Computing: Informatics and Systems (SUSCOM), 2025.
• Zhen Lu, Imran Afridi, Hong Jin Kang, Ivan Ruchkin, Xi Zheng.
  Surveying Neuro-Symbolic Approaches for Reliable Artificial Intelligence of Things [Springer].
  In Springer Journal of Reliable Intelligent Environments (JRIE), 2024. 
• Sydney Pugh, Ivan Ruchkin, Christopher Bonafide, Sara DeMauro, Oleg Sokolsky, Insup Lee, James Weimer.
  Evaluating Alarm Classifiers with High-Confidence Data Programming [ACM].
  In ACM Transactions on Computing for Healthcare (HEALTH), 2022
• Ankica Barišić, Ivan Ruchkin, Dušan Savić, Mustafa Abshir Mohamed, Rima Al-Ali, Letitia Li, Hana Mkaouar, Raheleh Eslampanah, Moharram Challenger, Dominique Blouin, Oksana Nikiforova, Antonio Cicchetti.
  Multi-paradigm Modeling for Cyber–Physical Systems: A Systematic Mapping Review [PDF] [BibTex] [ScienceDirect].
  In Journal of Systems and Software (JSS), volume 183, 2021.
• Ivan Ruchkin, Oleg Sokolsky, James Weimer, Tushar Hedaoo, Insup Lee.
  Compositional Probabilistic Analysis of Temporal Properties Over Stochastic Detectors [PDF] [BiBTex] [IEEE] [Supplement] [Github] [Slides] [Talk].
  IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), volume 39, issue 11, 2020. In Proceedings of the International Conference on Embedded Software (EMSOFT).
• Jonathan Aldrich, David Garlan, Christian Kaestner, Claire Le Goues, Anahita Mohseni Kabir, Ivan Ruchkin, Selva Samuel, Bradley Schmerl, Christopher Steven Timperley, Manuela Veloso, Ian Voysey, Joydeep Biswas, Arjun Guha, Jarrett Holtz, Javier Camara, Pooyan Jamshidi.
  Model-Based Adaptation for Robotics Software [PDF] [BibTex] [IEEE].
  IEEE Software article, volume 36, number 2, 2019.
• Xiaokang Zhou, Albert Zomaya, Weimin Li, Ivan Ruchkin.
  Cybermatics: Advanced Strategy and Technology for Cyber-Enabled Systems and Applications [PDF] [BibTex] [ScienceDirect].
  Elsevier Future Generation Computer Systems (FGCS), volume 79, 2018.
• Akshay Rajhans, Ajinkya Bhave, Ivan Ruchkin, Bruce Krogh, David Garlan, Andre Platzer, Bradley Schmerl.
  Supporting Heterogeneity in Cyber-Physical Systems Architectures [PDF] [BiBTex] [IEEE].
  In the IEEE Transactions on Automatic Control (TAC), volume 59, issue 12, 2014.

Workshop Papers

• Zhenjiang Mao, Artem Bisliouk, Rohith Reddy Nama, Ivan Ruchkin. 
  Temporalizing Confidence: Evaluation of Chain-of-Thought Reasoning with Signal Temporal Logic [Arxiv]. 
  In 20th Workshop on Innovative Use of NLP for Building Educational Applications (BEA), 2025.
• Zhenjiang Mao, Dong-You Jhong, Ao Wang, Ivan Ruchkin.
  Language-Enhanced Latent Representations for Out-of-Distribution Detection in Autonomous Driving [Arxiv] [Slides].
  Robot Trust for Symbiotic Societies (RTSS) Workshop (co-located with ICRA 2024), Yokohama, Japan, 2024.
• Zhenjiang Mao, Siqi Dai, Yuang Geng, Ivan Ruchkin.
  Zero-shot Safety Prediction for Autonomous Robots with Foundation World Models [Arxiv] [Poster].
  Back to the Future: Robot Learning Going Probabilistic Workshop (co-located with ICRA 2024), Yokohama, Japan, 2024.
• Ivan Ruchkin, Matthew Cleaveland, Oleg Sokolsky, Insup Lee.
  Confidence Monitoring and Composition for Dynamic Assurance of Learning-Enabled Autonomous Systems [PDF] [BiBTeX] [Slides] [Springer].
  In Formal Methods in Outer Space: Essays Dedicated to Klaus Havelund on the Occasion of His 65th Birthday (in conjunction with ISoLA 2021). Rhodes, Greece, 2021.
• Danny Weyns, Tomas Bures, Radu Calinescu, Barnaby Craggs, John Fitzgerald, David Garlan, Bashar Nuseibeh, Liliana Pasquale, Awais Rashid, Ivan Ruchkin, Bradley Schmerl.
  Six Software Engineering Principles for Smarter Cyber-Physical Systems [PDF] [BiBTeX] [IEEE].
  In Proceedings of the 8th Workshop on Self-Improving System Integration (SISSY) (in conjunction with ACSOS 2021). Washington, D.C., 2021.
• Ivan Ruchkin, Selva Samuel, Amanda Rico, Bradley Schmerl, David Garlan.
  Challenges in Physical Modeling for Adaptation of Cyber-Physical Systems [PDF] [BiBTeX] [Slides].
  In Proceedings of the 1st Workshop on Models at Runtime & Networked Control for Cyber Physical Systems (MARTCPS) (in conjunction with WF-IoT). Reston, VA, 2016. The IEEE World Forum on the Internet of Things Best Paper Award.
• Ivan Ruchkin.
  Integration Beyond Components and Models: Research Challenges and Directions [PDF] [BiBTeX] [Slides].
  In Proceedings of the 3th Architecture Centric Virtual Integration Workshop (ACVI) (in conjunction with WICSA/CompArch). Venice, Italy, 2016.
• Ivan Ruchkin, Ashwini Rao, Dionisio de Niz, Sagar Chaki, David Garlan.
  Eliminating Inter-Domain Vulnerabilities in Cyber-Physical Systems: An Analysis Contracts Approach [PDF] [BiBTeX] [Slides].
  In Proceedings of the First ACM Workshop on Cyber-Physical Systems Security and Privacy (CPS-SPC) (in conjunction with CCS). Denver, CO, 2015.
• Ivan Ruchkin, Bradley Schmerl, David Garlan.
  Analytic Dependency Loops in Architectural Models of Cyber-Physical Systems [PDF] [BiBTex]. In Proceedings of the 8th International Workshop on Model-based Architecting of Cyber-Physical and Embedded Systems (ACES-MB) 2015 (in conjunction with MODELS). Ottawa, Canada, 2015.
• Ivan Ruchkin.
  Architectural and Analytic Integration of Cyber-Physical System Models [MODELS] [Grand Finals] [BiBTex].
  In Proceedings of the MODELS 2015 ACM Student Research Competition. Ottawa, Canada, 2015.
  Gold Medal.
• Ivan Ruchkin.
  Towards Integration of Modeling Methods for Cyber-Physical Systems [PDF] [BiBTex].
  In Proceedings of the MODELS 2015 Doctoral Symposium. Ottawa, Canada, 2015.
• Ivan Ruchkin, Dionisio de Niz, Sagar Chaki, David Garlan.
  ACTIVE: A Tool for Integrating Analysis Contracts [PDF] [BiBTex] [Github].
  In Proceedings of the 5th Analytic Virtual Integration of Cyber-Physical Systems (AVICPS) Workshop. Rome, Italy, 2014.

Miscellaneous

• Xiaokang Zhou, Guangquan Xu, Jianhua Ma, Ivan Ruchkin.
  Scalable Platforms and Advanced Algorithms for IoT and Cyber-enabled Applications [PDF] [BibTex].
  Editorial for the Elsevier Journal of Parallel and Distributed Computing (JPDC), volume 118, part 1, 2018.
• Tomas Bures, Danny Weyns, Bradley Schmerl, Eduardo Tovar, Eric Boden, Thomas Gabor, Ilias Gerostathopoulos, Pragya Gupta, Eunsuk Kang, Alessia Knauss, Pankesh Patel, Awais Rashid, Ivan Ruchkin, Roykrong Sukkerd, Christos Tsigkanos.
  Software Engineering for Smart Cyber-Physical Systems: Challenges and Promising Solutions [PDF] [BibTex].
  In the ACM SIGSOFT Software Engineering Notes (SEN), volume 42, number 2, 2017.
• Ivan Ruchkin, Dionisio de Niz, Sagar Chaki, David Garlan.
  Framework for Inter-Model Analysis of Cyber-Physical Systems [PDF] [BibTex] [Abstract] [Slides].
  Extended abstract and poster at the 2nd Summer School on Cyber-Physical Systems, Grenoble, France. 2014.
• Ivan Ruchkin, Stefan Mitsch, Akshay Rajhans, Jan-David Quesel, André Platzer, Bruce Krogh, David Garlan, Bradley Schmerl, Prashant Ramachandra, Ken Butts.
  An Architectural Approach to Heterogeneous Modeling and Verification of CPS [PDF] [BibTex] [Abstract].
  Extended abstract and poster at the 4th Annual NSF CPS PI Meeting, Arlington, VA, 2013. 
• Ivan Ruchkin.
  Interconnection of Heterogeneous CPS Models Through Architectural Views [PDF] [BibTex].
  Extended abstract at the 3rd Annual NSF CPS PI Meeting, National Harbor, MD, 2012.

Non-peer Reviewed

• Ankica Barišić, Antonio Cicchetti, Ivan Ruchkin, Dominique Blouin.
  Literature Classification Data for a Systematic Mapping Study on Multi-Paradigm Modeling for Cyber-Physical Systems [PDF] [BiBTeX] [HAL].
  Technical report, Archive ouverte HAL, 2021.
• Ivan Ruchkin.
  Integration of Modeling Methods for Cyber-Physical Systems [PDF] [BiBTeX] [CMU].
  PhD Thesis.
  Carnegie Mellon University, Pittsburgh, PA, 2019.
• Amanda Rico, Ivan Ruchkin, Bradley Schmerl, David Garlan.
  Hardware Power Modeling for Turtlebot [PDF] [BibTex].
  Poster at the BRASS PI Meeting, Rice University, Houston, TX, 2016.
• Ivan Ruchkin, Vishal Dwivedi, David Garlan, Bradley Schmerl.
  Architectural Modeling of Ozone Widget Framework End-User Compositions [PDF] [BiBTeX] [CMU].
  Technical Report. Pittsburgh, PA, 2014.
• Ivan Ruchkin and Ashiwini Rao.
  DUI: A Fast Probabilistic Paper Evaluation Tool [PDF].
  In Proceedings of SIGBOVIK’13.  Pittsburgh, PA, 2013.
• Ivan Ruchkin.
  Building Software In-House: Too Much Control and Flexibility [PDF] [BiBTex] [Slides].
  Industry experience (practicum) reflection report.
  Carnegie Mellon University, Pittsburgh, PA, USA. 2012.
• Ivan Ruchkin.
  Tool View Interface of Integrated Development Environments [PDF – Russian] [Slides – Russian].
  Undergraduate research thesis.
  Lomonosov Moscow State University, Moscow, Russia, 2011.

The slides from my talks are posted on Slideshare.