Related papers: CBF-LLM: Safe Control for LLM Alignment

Large Language Models (LLMs) have achieved unprecedented performance in Natural Language Generation (NLG) tasks. However, many existing studies have shown that they could be misused to generate undesired content. In response, before…

Large Language Models (LLMs) become the start-of-the-art solutions for a variety of natural language tasks and are integrated into real-world applications. However, LLMs can be potentially harmful in manifesting undesirable safety issues…

Controlling the output of Large Language Models (LLMs) through context-sensitive constraints has emerged as a promising approach to overcome the limitations of Context-Free Grammars (CFGs) in guaranteeing generation validity. However, such…

The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety in LLM-driven plans remains a critical challenge, as these…

Large Language Models (LLMs) exhibit impressive capabilities but also present risks such as biased content generation and privacy issues. One of the current alignment techniques includes principle-driven integration, but it faces challenges…

Large Language Models (LLMs) such as ChatGPT and GitHub Copilot have revolutionized automated code generation in software engineering. However, as these models are increasingly utilized for software development, concerns have arisen…

Large Language Models (LLMs) have advanced various Natural Language Processing (NLP) tasks, such as text generation and translation, among others. However, these models often generate texts that can perpetuate biases. Existing approaches to…

Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…

Large Language Models (LLMs) have significantly advanced natural language processing (NLP) tasks but also pose ethical and societal risks due to their propensity to generate harmful content. Existing methods have limitations, including the…

Reinforcement learning (RL) can improve control performance by seeking to learn optimal control policies in the end-use environment for vehicles and other systems. To accomplish this, RL algorithms need to sufficiently explore the state and…

The current paradigm for safety alignment of large language models (LLMs) follows a one-size-fits-all approach: the model refuses to interact with any content deemed unsafe by the model provider. This approach lacks flexibility in the face…

Large Language Models (LLMs) demand significant computational resources, making it essential to enhance their capabilities without retraining from scratch. A key challenge in this domain is \textit{catastrophic forgetting} (CF), which…

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…

Large Language Models (LLMs) have demonstrated a powerful ability for text generation. However, achieving optimal results with a given prompt or instruction can be challenging, especially for billion-sized models. Additionally, undesired…

Large Language Models (LLMs) have recently emerged as planners for language-instructed agents, generating sequences of actions to accomplish natural language tasks. However, their reliability remains a challenge, especially in long-horizon…

Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…

Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…

We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…