Related papers: Quantifying Assistive Robustness Via the Natural-A…

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…

We propose a novel data-dependent structured gradient regularizer to increase the robustness of neural networks vis-a-vis adversarial perturbations. Our regularizer can be derived as a controlled approximation from first principles,…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…

In numerous reinforcement learning (RL) problems involving safety-critical systems, a key challenge lies in balancing multiple objectives while simultaneously meeting all stringent safety constraints. To tackle this issue, we propose a…

Reinforcement learning (RL) has achieved remarkable success in a wide range of control and decision-making tasks. However, RL agents often exhibit unstable or degraded performance when deployed in environments subject to unexpected external…

Fine-tuning has become the standard practice for adapting pre-trained models to downstream tasks. However, the impact on model robustness is not well understood. In this work, we characterize the robustness-accuracy trade-off in…

Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

As Artificial Intelligence (AI) increasingly supports human decision-making, its vulnerability to adversarial attacks grows. However, the existing adversarial analysis predominantly focuses on fully autonomous AI systems, where decisions…

As we seek to deploy machine learning models beyond virtual and controlled domains, it is critical to analyze not only the accuracy or the fact that it works most of the time, but if such a model is truly robust and reliable. This paper…

Despite the essential need for comprehensive considerations in responsible AI, factors like robustness, fairness, and causality are often studied in isolation. Adversarial perturbation, used to identify vulnerabilities in models, and…

Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control policy, humanoid robots are prone to fall as compared to…

Person re-identification (ReID) aims at matching persons across different views/scenes. In addition to accuracy, the matching efficiency has received more and more attention because of demanding applications using large-scale data. Several…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

Adversarial training has been actively studied in recent computer vision research to improve the robustness of models. However, due to the huge computational cost of generating adversarial samples, adversarial training methods are often…

Despite demonstrating superior rate-distortion (RD) performance, learning-based image compression (LIC) algorithms have been found to be vulnerable to malicious perturbations in recent studies. However, the adversarial attacks considered in…

Cooperative systems often remain in persistently suboptimal yet stable states. This paper explains such "rational stagnation" as an equilibrium sustained by a rational adversary whose utility follows the principle of potential loss, $u_{D}…

Aligning agent behaviors with diverse human preferences remains a challenging problem in reinforcement learning (RL), owing to the inherent abstractness and mutability of human preferences. To address these issues, we propose AlignDiff, a…