Related papers: A Unified Framework for Planning in Adversarial an…

Federated learning (FL) has emerged as a method to preserve privacy in collaborative distributed learning. In FL, clients train AI models directly on their devices rather than sharing data with a centralized server, which can pose privacy…

Sequential decision making, commonly formalized as optimization of a Markov Decision Process, is a key challenge in artificial intelligence. Two successful approaches to MDP optimization are reinforcement learning and planning, which both…

For robots acting in the presence of observers, we examine the information that is divulged if the observer is party to the robot's plan. Privacy constraints are specified as the stipulations on what can be inferred during plan execution.…

Security, privacy, and fairness have become critical in the era of data science and machine learning. More and more we see that achieving universally secure, private, and fair systems is practically impossible. We have seen for example how…

During the first step of practical reasoning, i.e. deliberation, an intelligent agent generates a set of pursuable goals and then selects which of them he commits to achieve. An intelligent agent may in general generate multiple pursuable…

Most approaches for goal recognition rely on specifications of the possible dynamics of the actor in the environment when pursuing a goal. These specifications suffer from two key issues. First, encoding these dynamics requires careful…

While recent work on online goal recognition efficiently infers goals under low observability, comparatively less work focuses on online goal recognition that works in both discrete and continuous domains. Online goal recognition approaches…

We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely…

As AI systems become increasingly capable and ubiquitous, ensuring the safety of these systems is critical. However, existing safety tools often target different aspects of model safety and cannot provide full assurance in isolation,…

A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

Developers try to evaluate whether an AI system can be misused by adversaries before releasing it; for example, they might test whether a model enables cyberoffense, user manipulation, or bioterrorism. In this work, we show that…

AI tasks differ in complexity and are best addressed with different computation strategies (e.g., combinations of models and decoding methods). Hence, an effective routing system that maps tasks to the appropriate strategies is crucial.…

Adaptation is the cornerstone of effective collaboration among heterogeneous team members. In human-agent teams, artificial agents need to adapt to their human partners in real time, as individuals often have unique preferences and policies…

Software systems are increasingly relying on Artificial Intelligence (AI) and Machine Learning (ML) components. The emerging popularity of AI techniques in various application domains attracts malicious actors and adversaries. Therefore,…

Ensuring artificial intelligence behaves in such a way that is aligned with human values is commonly referred to as the alignment challenge. Prior work has shown that rational agents, behaving in such a way that maximizes a utility…

Unmanned aerial vehicles (UAVs) are capable of serving as flying base stations (BSs) for supporting data collection, artificial intelligence (AI) model training, and wireless communications. However, due to the privacy concerns of devices…

Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…

We develop and study new adversarial perturbations that enable an attacker to gain control over decisions in generic Artificial Intelligence (AI) systems including deep learning neural networks. In contrast to adversarial data modification,…