Related papers: Clustering-based Recurrent Neural Network Controll…

We apply deep reinforcement learning (DRL) to design of a networked controller with network delays to complete a temporal control task that is described by a signal temporal logic (STL) formula. STL is useful to deal with a specification…

Offline safe reinforcement learning (RL) aims to train a constraint satisfaction policy from a fixed dataset. Current state-of-the-art approaches are based on supervised learning with a conditioned policy. However, these approaches fall…

This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…

We present a framework for compactly summarizing many recent results in efficient and/or biologically plausible online training of recurrent neural networks (RNN). The framework organizes algorithms according to several criteria: (a) past…

This study investigates formal-method-based trajectory optimization (TO) for bipedal locomotion, focusing on scenarios where the robot encounters external perturbations at unforeseen times. Our key research question centers around the…

Recurrent neural networks (RNNs) for reinforcement learning (RL) have shown distinct advantages, e.g., solving memory-dependent tasks and meta-learning. However, little effort has been spent on improving RNN architectures and on…

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…

Constrained Reinforcement Learning (CRL) aims to optimize decision-making policies under constraint conditions, making it highly applicable to safety-critical domains such as autonomous driving, robotics, and power grid management. However,…

We extend previous work on symbolic self-triggered control for non-deterministic continuous-time nonlinear systems without stability assumptions to a larger class of specifications. Our goal is to synthesise a controller for two objectives:…

Multi-task learning (MTL) aims to improve estimation and prediction performance by sharing common information among related tasks. One natural assumption in MTL is that tasks are classified into clusters based on their characteristics.…

Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…

Autonomous vehicles are complex systems that are challenging to test and debug. A requirements-driven approach to the development process can decrease the resources required to design and test these systems, while simultaneously increasing…

Test-Time Reinforcement Learning (TTRL) enables Large Language Models (LLMs) to enhance reasoning capabilities on unlabeled test streams by deriving pseudo-rewards from majority voting consensus. However, existing TTRL methods rely…

Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing…

We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a…

Supervised Causal Learning (SCL) has shown promise in causal discovery by framing it as a supervised learning problem. However, it suffers from significant out-of-distribution generalization challenges. We reveal three limitations of…

Traffic scenario categorisation is an essential component of automated driving, for e.\,g., in motion planning algorithms and their validation. Finding new relevant scenarios without handcrafted steps reduce the required resources for the…

Stochastic control problems with delay are challenging due to the path-dependent feature of the system and thus its intrinsic high dimensions. In this paper, we propose and systematically study deep neural networks-based algorithms to solve…

The problem of learning long-term dependencies in sequences using Recurrent Neural Networks (RNNs) is still a major challenge. Recent methods have been suggested to solve this problem by constraining the transition matrix to be unitary…

Time-Sensitive Networking (TSN) supports multiple traffic types with diverse timing requirements, such as hard real-time (HRT), soft real-time (SRT), and Best Effort (BE) within a single network. To provide varying Quality of Service (QoS)…