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Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Neural network controllers trained via behavior cloning are increasingly deployed in cyber-physical systems (CPS), yet practitioners lack tools to trace controller failures back to training data. Existing data attribution methods assume…
In this survey, we describe controlled interacting particle systems (CIPS) to approximate the solution of the optimal filtering and the optimal control problems. Part I of the survey is focussed on the feedback particle filter (FPF)…
The Age-of-Information (AoI) has recently been proposed as an important metric for investigating the timeliness performance in information-update systems. Prior studies on AoI optimization often consider a Push model, which is concerned…
Ajax applications are designed to have high user interactivity and low user-perceived latency. Real-time dynamic web data such as news headlines, stock tickers, and auction updates need to be propagated to the users as soon as possible.…
Instead of treating inventory items as static resources, future intelligent warehouses will transcend containers to Cyber Physical Systems (CPS) that actively and autonomously participate in the optimization of the logistical processes.…
Quality patient-provider communication is critical to improve clinical care and patient outcomes. While progress has been made with communication skills training for clinicians, significant gaps exist in how to best monitor, measure, and…
With the significant progress of speech technologies, spoken goal-oriented dialogue systems are becoming increasingly popular. One of the main modules of a dialogue system is typically the dialogue policy, which is responsible for…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
Multi-turn GUI agents enable complex task completion through sequential decision-making, but suffer from severe context inflation as interaction history accumulates. Existing strategies either sacrifice long-term context via truncation or…
In system analysis, conformance indicates that two systems simultaneously satisfy the same set of specifications of interest; thus, the results from analyzing one system automatically transfer to the other, or one system can safely replace…
We consider a multi-agent system in which a decentralized team of agents controls a stochastic system in the presence of an adversary. Instead of committing to a fixed information sharing protocol, the agents can strategically decide at…
The notion of Cyber-Physical-Social System (CPSS) is an emerging concept developed as a result of the need to understand the impact of Cyber-Physical Systems (CPS) on humans and vice versa. This paradigm shift from CPS to CPSS was mainly…
Conversational recommender systems (CRSs) provide users with an interactive means to express preferences and receive real-time personalized recommendations. The success of these systems is heavily influenced by the preference elicitation…
In this paper, we focus on solving a distributed convex optimization problem in a network, where each agent has its own convex cost function and the goal is to minimize the sum of the agents' cost functions while obeying the network…
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial locations. We analyze how delays affect the spatial locality of…
In this paper, we consider controlled linear dynamical systems in which the controller has only access to a compressed version of the system state. The technical problem we investigate is that of allocating compression resources over time…
With advancements in physical power systems and network technologies, integrated Cyber-Physical Power Systems (CPPS) have significantly enhanced system monitoring and control efficiency and reliability. This integration, however, introduces…
Cyber-Physical Systems (CPS) are being widely adopted in critical infrastructures, such as smart grids, nuclear plants, water systems, transportation systems, manufacturing and healthcare services, among others. However, the increasing…
We apply formal methods to lay and streamline theoretical foundations to reason about Cyber-Physical Systems (CPSs) and physics-based attacks, i.e., attacks targeting physical devices. We focus on a formal treatment of both integrity and…