Related papers: Safe LLM-Controlled Robots with Formal Guarantees …

The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and…

Large Language Models (LLMs) face a fundamental safety-helpfulness trade-off due to static, one-size-fits-all safety policies that lack runtime controllabilityxf, making it difficult to tailor responses to diverse application needs. %As a…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards detecting and mitigating out-of-distribution failure modes of…

The integration of LLMs into robots has witnessed significant growth, where LLMs can convert instructions into executable robot policies. However, the inherent vulnerability of LLMs to jailbreak attacks brings critical security risks from…

Spurred by the recent rapid increase in the development and distribution of large language models (LLMs) across industry and academia, much recent work has drawn attention to safety- and security-related threats and vulnerabilities of LLMs,…

The recent popularity of large language models (LLMs) has brought a significant impact to boundless fields, particularly through their open-ended ecosystem such as the APIs, open-sourced models, and plugins. However, with their widespread…

Learning-based methods have been successful in solving complex control tasks without significant prior knowledge about the system. However, these methods typically do not provide any safety guarantees, which prevents their use in…

Ambiguity in natural language instructions poses significant risks in safety-critical human-robot interaction, particularly in domains such as surgery. To address this, we propose a framework that uses Large Language Models (LLMs) for…

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…

Large Language Models (LLMs) demonstrate impressive capabilities across various fields, yet their increasing use raises critical security concerns. This article reviews recent literature addressing key issues in LLM security, with a focus…

Recent advancements in large language models (LLMs) have notably propelled natural language processing (NLP) capabilities, demonstrating significant potential in safety engineering applications. Despite these advancements, LLMs face…

The vulnerability of artificial intelligence (AI) and machine learning (ML) against adversarial disturbances and attacks significantly restricts their applicability in safety-critical systems including cyber-physical systems (CPS) equipped…

The emergence of autonomous Large Language Model (LLM) agents capable of tool usage has introduced new safety risks that go beyond traditional conversational misuse. These agents, empowered to execute external functions, are vulnerable to…

Large Language Models (LLMs) have transformed artificial intelligence by advancing natural language understanding and generation, enabling applications across fields beyond healthcare, software engineering, and conversational systems.…

Converting high-level tasks described by natural language into formal specifications like Linear Temporal Logic (LTL) is a key step towards providing formal safety guarantees over cyber-physical systems (CPS). While the compliance of the…

The recent performance leap of Large Language Models (LLMs) opens up new opportunities across numerous industrial applications and domains. However, erroneous generations, such as false predictions, misinformation, and hallucination made by…

The AI era has ushered in Large Language Models (LLM) to the technological forefront, which has been much of the talk in 2023, and is likely to remain as such for many years to come. LLMs are the AI models that are the power house behind…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

Attracted by the impressive power of Multimodal Large Language Models (MLLMs), the public is increasingly utilizing them to improve the efficiency of daily work. Nonetheless, the vulnerabilities of MLLMs to unsafe instructions bring huge…