Related papers: Trusted Neural Networks for Safety-Constrained Aut…
Learning-based methods could provide solutions to many of the long-standing challenges in control. However, the neural networks (NNs) commonly used in modern learning approaches present substantial challenges for analyzing the resulting…
Deep Neural Networks (DNNs) which are trained end-to-end have been successfully applied to solve complex problems that we have not been able to solve in past decades. Autonomous driving is one of the most complex problems which is yet to be…
Sensory predictions by the brain in all modalities take place as a result of bottom-up and top-down connections both in the neocortex and between the neocortex and the thalamus. The bottom-up connections in the cortex are responsible for…
Classifiers learnt from data are increasingly being used as components in systems where safety is a critical concern. In this work, we present a formal notion of safety for classifiers via constraints called safe-ordering constraints. These…
The black-box nature of Convolutional Neural Networks (CNNs) and their reliance on large datasets limit their use in complex domains with limited labeled data. Physics-Guided Neural Networks (PGNNs) have emerged to address these limitations…
This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…
Deep learning is typically performed by learning a neural network solely from data in the form of input-output pairs ignoring available domain knowledge. In this work, the Constraint Guided Gradient Descent (CGGD) framework is proposed that…
Substitution of well-grounded theoretical models by data-driven predictions is not as simple in engineering and sciences as it is in social and economic fields. Scientific problems suffer most times from paucity of data, while they may…
Traffic problems have seriously affected people's life quality and urban development, and forecasting the short-term traffic congestion is of great importance to both individuals and governments. However, understanding and modeling the…
Real-world systems are often formulated as constrained optimization problems. Techniques to incorporate constraints into Neural Networks (NN), such as Neural Ordinary Differential Equations (Neural ODEs), have been used. However, these…
Random Neural Networks (RNNs) are a class of Neural Networks (NNs) that can also be seen as a specific type of queuing network. They have been successfully used in several domains during the last 25 years, as queuing networks to analyze the…
Transfer Learning enables Convolutional Neural Networks (CNN) to acquire knowledge from a source domain and transfer it to a target domain, where collecting large-scale annotated examples is time-consuming and expensive. Conventionally,…
We propose Gradient Informed Neural Networks (GradINNs), a methodology inspired by Physics Informed Neural Networks (PINNs) that can be used to efficiently approximate a wide range of physical systems for which the underlying governing…
Sparse neural networks are important for achieving better generalization and enhancing computation efficiency. This paper proposes a novel learning approach to obtain sparse fully connected layers in neural networks (NNs) automatically. We…
Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This is because it remains an open challenge to train a neural…
Deep neural networks (DNNs) have achieved significant success in a variety of real world applications, i.e., image classification. However, tons of parameters in the networks restrict the efficiency of neural networks due to the large model…
Hypergraph neural networks (HGNN) have recently become attractive and received significant attention due to their excellent performance in various domains. However, most existing HGNNs rely on first-order approximations of hypergraph…
Data driven models of dynamical systems help planners and controllers to provide more precise and accurate motions. Most model learning algorithms will try to minimize a loss function between the observed data and the model's predictions.…
A novel convolution neural network model, abbreviated NL-CNN is proposed, where nonlinear convolution is emulated in a cascade of convolution + nonlinearity layers. The code for its implementation and some trained models are made publicly…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…