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Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…

In the classical reach-avoid problem, autonomous mobile robots are tasked to reach a goal while avoiding obstacles. However, it is difficult to provide guarantees on the robot's performance when the obstacles form a narrow gap and the robot…

The increasing sophistication of large vision-language models (LVLMs) has been accompanied by advances in safety alignment mechanisms designed to prevent harmful content generation. However, these defenses remain vulnerable to sophisticated…

Deep reinforcement learning (DRL) has demonstrated remarkable performance in many continuous control tasks. However, a significant obstacle to the real-world application of DRL is the lack of safety guarantees. Although DRL agents can…

The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…

This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…

We study the reachability problem for systems implemented as feed-forward neural networks whose activation function is implemented via ReLU functions. We draw a correspondence between establishing whether some arbitrary output can ever be…

Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside the reachable set. However, producing…

Learning-enabled planning and control algorithms are increasingly popular, but they often lack rigorous guarantees of performance or safety. We introduce an algorithm for computing underapproximate backward reachable sets of nonlinear…

Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…

Safety is a critical concern for the next generation of autonomy that is likely to rely heavily on deep neural networks for perception and control. Formally verifying the safety and robustness of well-trained DNNs and learning-enabled…

Neural Networks (NNs) have increasingly apparent safety implications commensurate with their proliferation in real-world applications: both unanticipated as well as adversarial misclassifications can result in fatal outcomes. As a…

Emerging applications in robotics and autonomous systems, such as autonomous driving and robotic surgery, often involve critical safety constraints that must be satisfied even when information about system models is limited. In this regard,…

We provide a theoretical algorithm for checking local optimality and escaping saddles at nondifferentiable points of empirical risks of two-layer ReLU networks. Our algorithm receives any parameter value and returns: local minimum,…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

We develop a corrective mechanism for neural network approximation: the total available non-linear units are divided into multiple groups and the first group approximates the function under consideration, the second group approximates the…

Control Barrier Functions (CBFs) are a popular approach for safe control of nonlinear systems. In CBF-based control, the desired safety properties of the system are mapped to nonnegativity of a CBF, and the control input is chosen to ensure…

Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…