Related papers: Qualitative Approximate Behavior Composition
Modeling the purposeful behavior of imperfect agents from a small number of observations is a challenging task. When restricted to the single-agent decision-theoretic setting, inverse optimal control techniques assume that observed behavior…
Temporal action localization aims at localizing action instances from untrimmed videos. Existing works have designed various effective modules to precisely localize action instances based on appearance and motion features. However, by…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
The optimal controller design problem for systems equipped with sensors that measure only relative, rather than absolute, quantities is considered. This relative measurement structure is formulated as a design constraint; it is demonstrated…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system model. Constructing this abstraction for the entire system is…
The inherent approximation ability of neural networks plays an essential role in adaptive neural control, where the prerequisite for existence of the compact set is crucial in the control designs. Instead of using practical system state, in…
In this paper, we investigate the problem of embodied multi-agent cooperation, where decentralized agents must cooperate given only egocentric views of the world. To effectively plan in this setting, in contrast to learning world dynamics…
Reactive computer systems bear inherent complexity due to continuous interactions with their environment. While this environment often proves to be uncontrollable, we still want to ensure that critical computer systems will not fail, no…
We consider a discrete-time bipartite matching model with random arrivals of units of supply and demand that can wait in queues located at the nodes in the network. A control policy determines which are matched at each time. The focus is on…
Effective image retrieval with text feedback stands to impact a range of real-world applications, such as e-commerce. Given a source image and text feedback that describes the desired modifications to that image, the goal is to retrieve the…
Closed-loop verification of cyber-physical systems with neural network controllers offers strong safety guarantees under certain assumptions. It is, however, difficult to determine whether these guarantees apply at run time because…
We study the problem of maximizing a monotone submodular function subject to a Multiple Knapsack constraint. The input is a set $I$ of items, each has a non-negative weight, and a set of bins of arbitrary capacities. Also, we are given a…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
Many people are interested in taking astonishing photos and sharing with others. Emerging hightech hardware and software facilitate ubiquitousness and functionality of digital photography. Because composition matters in photography,…
This paper formulates and studies the concepts of approximate (alternating) bisimulation relations characterizing equivalence relations between interconnected systems and their abstractions. These equivalence relations guarantee that the…
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…
We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…