Related papers: Asymptotically Fair Participation in Machine Learn…

Scenario reduction algorithms can be an effective means to provide a tractable description of the uncertainty in optimal control problems. However, they might significantly compromise the performance of the controlled system. In this paper,…

This work addresses challenges in evaluating adaptive artificial intelligence (AI) models for medical devices, where iterative updates to both models and evaluation datasets complicate performance assessment. We introduce a novel approach…

Learning from Demonstration (LfD) is a popular approach for robots to acquire new skills, but most LfD methods suffer from imperfections in human demonstrations. Prior work typically treats these suboptimalities as random noise. In this…

Recent research on algorithmic fairness has highlighted that the problem formulation phase of ML system development can be a key source of bias that has significant downstream impacts on ML system fairness outcomes. However, very little…

We study group fairness in the context of feedback loops induced by meritocratic selection into programs that themselves confer additional advantage, like college admissions. We introduce a stylized, yet novel inter-generational model for…

Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…

As machine learning being used increasingly in making high-stakes decisions, an arising challenge is to avoid unfair AI systems that lead to discriminatory decisions for protected population. A direct approach for obtaining a fair…

We consider the problem of optimal sparse output feedback controller synthesis for continuous linear time invariant systems when the feedback gain is static and subject to specified structural constraints. Introducing an additional term…

Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…

This paper studies the probability of error associated with the social machine learning framework, which involves an independent training phase followed by a cooperative decision-making phase over a graph. This framework addresses the…

Overfitting is a phenomenon that occurs when a machine learning model is trained for too long and focused too much on the exact fitness of the training samples to the provided training labels and cannot keep track of the predictive rules…

Without exact knowledge of the true system dynamics, optimal control of non-linear continuous-time systems requires careful treatment under epistemic uncertainty. In this work, we translate a probabilistic interpretation of the Pontryagin…

Performative prediction is a framework that captures distribution shifts that occur during the training of machine learning models due to their deployment. As the trained model is used, data generation causes the model to evolve, leading to…

This paper develops a surrogate model refinement approach for the simulation of dynamical systems and the solution of optimization problems governed by dynamical systems in which surrogates replace expensive-to-compute state- and…

A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…

This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…

In real-world federated learning (FL) systems, client participation is intermittent, heterogeneous, and often correlated with data characteristics or resource constraints. Existing fairness approaches in FL primarily focus on equalizing…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

While training fair machine learning models has been studied extensively in recent years, most developed methods rely on the assumption that the training and test data have similar distributions. In the presence of distribution shifts, fair…

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…