Related papers: MADR: MPC-guided Adversarial DeepReach

Deep reinforcement learning has shown remarkable success in the past few years. Highly complex sequential decision making problems from game playing and robotics have been solved with deep model-free methods. Unfortunately, the sample…

As social robots take on increasingly complex roles like game masters (GMs) in multi-party games, the expectation that physicality universally enhances user experience remains debated. This study challenges the "one-size-fits-all" view of…

A popular perspective in Reinforcement learning (RL) casts the problem as probabilistic inference on a graphical model of the Markov decision process (MDP). The core object of study is the probability of each state-action pair being visited…

Supervised deep learning methods have shown promising results for the task of monocular depth estimation; but acquiring ground truth is costly, and prone to noise as well as inaccuracies. While synthetic datasets have been used to…

Moving target defense (MTD) is a proactive defense approach that aims to thwart attacks by continuously changing the attack surface of a system (e.g., changing host or network configurations), thereby increasing the adversary's uncertainty…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

The vulnerability of the high-performance machine learning models implies a security risk in applications with real-world consequences. Research on adversarial attacks is beneficial in guiding the development of machine learning models on…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Deep reinforcement learning (DRL) has demonstrated remarkable success in developing autonomous driving policies. However, its vulnerability to adversarial attacks remains a critical barrier to real-world deployment. Although existing robust…

In this paper, an adaptive cooperative guidance strategy for the active protection of a target spacecraft trying to evade an interceptor was developed. The target spacecraft performs evasive maneuvers, launching an active defense vehicle to…

Recent advances in multi-agent reinforcement learning (MARL) have created opportunities to solve complex real-world tasks. Cybersecurity is a notable application area, where defending networks against sophisticated adversaries remains a…

The behaviour of multi-agent learning in competitive settings is often considered under the restrictive assumption of a zero-sum game. Only under this strict requirement is the behaviour of learning well understood; beyond this, learning…

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…

We address payoff-based decentralized learning in infinite-horizon zero-sum Markov games. In this setting, each player makes decisions based solely on received rewards, without observing the opponent's strategy or actions nor sharing…

Monocular Depth Estimation (MDE) plays a vital role in applications such as autonomous driving. However, various attacks target MDE models, with physical attacks posing significant threats to system security. Traditional adversarial…

Adversarial machine learning has been both a major concern and a hot topic recently, especially with the ubiquitous use of deep neural networks in the current landscape. Adversarial attacks and defenses are usually likened to a…

We study the problem of decentralized constrained POMDPs in a team-setting where the multiple non-strategic agents have asymmetric information. Strong duality is established for the setting of infinite-horizon expected total discounted…

Deep Reinforcement Learning (DRL) suffers from uncertainties and inaccuracies in the observation signal in realworld applications. Adversarial attack is an effective method for evaluating the robustness of DRL agents. However, existing…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…

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…