Related papers: Online Poisoning Attacks Against Data-Driven Predi…

The rise of foundation models fine-tuned on human feedback from potentially untrusted users has increased the risk of adversarial data poisoning, necessitating the study of robustness of learning algorithms against such attacks. Existing…

This paper quantifies and addresses the bias of subspace-based Data-Driven Predictive Control (DDPC) for linear, time-invariant (LTI) systems. The primary focus is the bias that arises when the training data is gathered with a feedback…

We present a differentiable predictive control (DPC) methodology for learning constrained control laws for unknown nonlinear systems. DPC poses an approximate solution to multiparametric programming problems emerging from explicit nonlinear…

We introduce data to predictive control, D2PC, a framework to facilitate the design of robust and predictive controllers from data. The proposed framework is designed for discrete-time stochastic linear systems with output measurements and…

In adversarial machine learning, new defenses against attacks on deep learning systems are routinely broken soon after their release by more powerful attacks. In this context, forensic tools can offer a valuable complement to existing…

Data-enabled predictive control (DeePC) has garnered significant attention for its ability to achieve safe, data-driven optimal control without relying on explicit system models. Traditional DeePC methods use pre-collected input/output…

A backdoor data poisoning attack is an adversarial attack wherein the attacker injects several watermarked, mislabeled training examples into a training set. The watermark does not impact the test-time performance of the model on typical…

An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based…

Collecting training data from untrusted sources exposes machine learning services to poisoning adversaries, who maliciously manipulate training data to degrade the model accuracy. When trained on offline datasets, poisoning adversaries have…

Machine learning systems are deployed in critical settings, but they might fail in unexpected ways, impacting the accuracy of their predictions. Poisoning attacks against machine learning induce adversarial modification of data used by a…

This paper addresses the design of an event-triggered, data-based, and performance-oriented adaption method for model predictive control (MPC). The performance of such a strategy strongly depends on the accuracy of the prediction model,…

We consider the online control problem with an unknown linear dynamical system in the presence of adversarial perturbations and adversarial convex loss functions. Although the problem is widely studied in model-based control, it remains…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…

Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and…

In this paper we introduce a novel approach to distributionally robust optimal control that supports online learning of the ambiguity set, while guaranteeing recursive feasibility. We introduce conic representable risk, which is useful to…

Poisoning attack is identified as a severe security threat to machine learning algorithms. In many applications, for example, deep neural network (DNN) models collect public data as the inputs to perform re-training, where the input data…

Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…

This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…

Large language models (LLMs) are often fine-tuned on uncurated text datasets that adversaries can poison. Existing poisoning attacks primarily rely on fixed trigger phrases that defenses such as outlier detection, clean-data regularization,…