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While behavior learning has made impressive progress in recent times, it lags behind computer vision and natural language processing due to its inability to leverage large, human-generated datasets. Human behaviors have wide variance,…
Reasoning in Large Language Models (LLMs) poses a challenge for oversight as many misaligned behaviors do not surface until reasoning concludes. To address this, we introduce Behavior Cue Reasoning for making LLM reasoning more controllable…
Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…
Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. With the advent of LLMs, language has been emerging as a…
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
The widespread adoption of Large Language Models (LLMs) in software development is transforming programming from a solution-generative to a solution-evaluative activity. This shift opens a pathway for new cognitive challenges that amplify…
Testing is a significant aspect of software development. As systems become complex and their use becomes critical to the security and the function of society, the need for testing methodologies that ensure reliability and detect faults as…
The flexibility claimed by the next generation production systems induces a deep modification of the behavior and the core itself of the control systems. Overconnectivity and data management abilities targeted by Industry 4.0 paradigm…
Cyber security risk assessments provide a pivotal starting point towards the understanding of existing risk exposure, through which suitable mitigation strategies can be formed. Where risk is viewed as a product of threat, vulnerability,…
Cognitive Behavioral Therapy (CBT) is a well-established intervention for mitigating psychological issues by modifying maladaptive cognitive and behavioral patterns. However, delivery of CBT is often constrained by resource limitations and…
Currently, Blockchain (BC), Artificial Intelligence (AI), and smart Industrial Internet of Things (IIoT) are not only leading promising technologies in the world, but also these technologies facilitate the current society to develop the…
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…
The ongoing fourth Industrial Revolution depends mainly on robust Industrial Cyber-Physical Systems (ICPS). ICPS includes computing (software and hardware) abilities to control complex physical processes in distributed industrial…
Black-box AI induction methods such as deep reinforcement learning (DRL) are increasingly being used to find optimal policies for a given control task. Although policies represented using a black-box AI are capable of efficiently executing…
Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive…
With ever-expanding computation and communication capabilities of modern embedded platforms, Internet of Things (IoT) technologies enable development of Reconfigurable Manufacturing Systems---a new generation of highly modularized…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Over the past three decades, numerous controllers have been developed to regulate complex chemical processes, but they have certain limitations. Traditional PI/PID controllers often require customized tuning for various set-point scenarios.…
Industry 4.0 has become a driver for the entire manufacturing industry. Smart systems have enabled 30% productivity increases and predictive maintenance has been demonstrated to provide a 50% reduction in machine downtime. So far, the…