Related papers: ACORN: Adaptive Contrastive Optimization for Safe …

Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient…

Agentic AI systems capable of autonomous planning and extended environmental interaction pose a fundamental control problem: how can humans maintain meaningful oversight of systems that may exceed their own capabilities? Existing approaches…

Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…

We propose FAR-SIGN (Fully Asynchronous Robust optimization via SIGNed directional projections) for adversary-resilient learning in parameter-server--worker systems. FAR-SIGN achieves robustness through sign-based updates along carefully…

High-precision control tasks present substantial challenges for reinforcement learning (RL) algorithms, frequently resulting in suboptimal performance attributed to network approximation inaccuracies and inadequate sample quality.These…

Artificial neural networks (ANNs) have become the de facto standard for modeling the human visual system, primarily due to their success in predicting neural responses. However, with many models now achieving similar predictive accuracy, we…

Robust reinforcement learning (Robust RL) seeks to handle epistemic uncertainty in environment dynamics, but existing approaches often rely on nested min--max optimization, which is computationally expensive and yields overly conservative…

Existing methods for multi-agent navigation typically assume fully known environments, offering limited support for partially known scenarios with outdated or imperfect prior maps, such as warehouses or factory floors. There, agents need to…

Robustness of machine learning models is critical for security related applications, where real-world adversaries are uniquely focused on evading neural network based detectors. Prior work mainly focus on crafting adversarial examples (AEs)…

In recent times, deep neural networks achieved outstanding predictive performance on various classification and pattern recognition tasks. However, many real-world prediction problems have ordinal response variables, and this ordering…

Designing adversarially robust models from a data-centric perspective requires understanding which input samples are most crucial for learning resilient features. While coreset selection provides a mechanism for efficient training on data…

Recent progress in embodied AI has produced a growing ecosystem of robot policies, foundation models, and modular runtimes. However, current evaluation remains dominated by task success metrics such as completion rate or manipulation…

The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with real-time reactivity. Learning-based methods can train…

Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map,…

Reinforcement learning (RL)-based adaptive cruise control systems (ACC) that learn and adapt to road, traffic and vehicle conditions are attractive for enhancing vehicle energy efficiency and traffic flow. However, the application of RL in…

Risk-based AI regulation has become the dominant paradigm in AI governance, promising proportional controls aligned with anticipated harms. This paper argues that such frameworks often fail for structural reasons: they implicitly assume…

Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous…

Deep Reinforcement Learning (DRL) policies are highly susceptible to adversarial noise in observations, which poses significant risks in safety-critical scenarios. The challenge inherent to adversarial perturbations is that by altering the…

Designing optimisation algorithms that perform well in general requires experimentation on a range of diverse problems. Training neural networks is an optimisation task that has gained prominence with the recent successes of deep learning.…

We introduce Learning-Augmented Control (LAC), an approach that integrates untrusted machine learning predictions into the control of constrained, nonlinear dynamical systems. LAC is designed to achieve the "best-of-both-worlds" guarantees,…