Related papers: Conformalized Data-Driven Reachability Analysis wi…
We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…
This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…
Certified robustness is a critical property for deploying neural networks (NN) in safety-critical applications. A principle approach to achieving such guarantees is to constrain the global Lipschitz constant of the network. However,…
Linear Time Invariant (LTI) systems are ubiquitous in control applications. Unbounded-time reachability analysis that can cope with industrial-scale models with thousands of variables is needed. To tackle this problem, we use abstract…
The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The proposed hierarchical approach consists of two parts: 1) A…
We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…
Calibrated probabilistic classifiers are models whose predicted probabilities can directly be interpreted as uncertainty estimates. It has been shown recently that deep neural networks are poorly calibrated and tend to output overconfident…
This study aims to address the pervasive challenge of quantifying uncertainty in large language models (LLMs) without logit-access. Conformal Prediction (CP), known for its model-agnostic and distribution-free features, is a desired…
When data is scarce or mistakes are costly, average-case metrics fall short. What a practitioner needs is a guarantee: with probability at least $1-\delta$, the learned policy is $\varepsilon$-close to optimal after $N$ episodes. This is…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
We consider the verification of neural network policies for discrete-time stochastic systems with respect to reach-avoid specifications. We use a learner-verifier procedure that learns a certificate for the specification, represented as a…
Domain adaptation (DA) is transfer learning which aims to leverage labeled data in a related source domain to achieve informed knowledge transfer and help the classification of unlabeled data in a target domain. In this paper, we propose a…
We study efficient PAC learning of homogeneous halfspaces in $\mathbb{R}^d$ in the presence of malicious noise of Valiant (1985). This is a challenging noise model and only until recently has near-optimal noise tolerance bound been…
We study aleatoric and epistemic uncertainty estimation in a learned regressive system dynamics model. Disentangling aleatoric uncertainty (the inherent randomness of the system) from epistemic uncertainty (the lack of data) is crucial for…
Deploying artificial intelligence (AI) models on edge devices involves a delicate balance between meeting stringent complexity constraints, such as limited memory and energy resources, and ensuring reliable performance in sensitive…
We introduce a general framework for robust data-enabled predictive control (DeePC) for linear time-invariant (LTI) systems. The proposed framework enables us to obtain model-free optimal control for LTI systems based on noisy input/output…
With the recent burst of 2D and 3D data, cross-modal retrieval has attracted increasing attention recently. However, manual labeling by non-experts will inevitably introduce corrupted annotations given ambiguous 2D/3D content. Though…
We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side information on the dynamics are available. Such side…
Safe control of constrained linear systems under both epistemic and aleatory uncertainties is considered. The aleatory uncertainty characterizes random noises and is modeled by a probability distribution function (PDF) and the epistemic…