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Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time…

To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism…

Though Transformers have achieved promising results in many computer vision tasks, they tend to be over-confident in predictions, as the standard Dot Product Self-Attention (DPSA) can barely preserve distance for the unbounded input domain.…

Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving an HJ Partial Differential Equation (PDE) over a grid, which…

This paper studies the evaluation of routing algorithms from the perspective of reachability routing, where the goal is to determine all paths between a sender and a receiver. Reachability routing is becoming relevant with the changing…

In this paper, we propose the Lipschitz margin ratio and a new metric learning framework for classification through maximizing the ratio. This framework enables the integration of both the inter-class margin and the intra-class dispersion,…

Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside the reachable set. However, producing…

We consider the problem of knowledge transfer when an agent is facing a series of Reinforcement Learning (RL) tasks. We introduce a novel metric between Markov Decision Processes (MDPs) and establish that close MDPs have close optimal value…

Lipschitz Bound Estimation is an effective method of regularizing deep neural networks to make them robust against adversarial attacks. This is useful in a variety of applications ranging from reinforcement learning to autonomous systems.…

Multi-vehicle collision avoidance is a highly crucial problem due to the soaring interests of introducing autonomous vehicles into the real world in recent years. The safety of these vehicles while they complete their objectives is of…

Fast and Safe Tracking (FaSTrack) is a modular framework that provides safety guarantees while planning and executing trajectories in real time via value functions of Hamilton-Jacobi (HJ) reachability. These value functions are computed…

Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…

Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…

Neural implicit surfaces are a promising tool for geometry processing that represent a solid object as the zero level set of a neural network. Usually trained to approximate a signed distance function of the considered object, these methods…

This paper proposes a theoretical and computational framework for training and robustness verification of implicit neural networks based upon non-Euclidean contraction theory. The basic idea is to cast the robustness analysis of a neural…

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…

We present a method for feedback motion planning of systems with unknown dynamics which provides probabilistic guarantees on safety, reachability, and goal stability. To find a domain in which a learned control-affine approximation of the…

We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…

Path-tracking control of self-driving vehicles can benefit from deep learning for tackling longstanding challenges such as nonlinearity and uncertainty. However, deep neural controllers lack safety guarantees, restricting their practical…

In real-world applications, learning-enabled systems often undergo iterative model development to address challenging or emerging tasks, which involve collecting new data, training a new model and validating the model. This continual model…