Related papers: Safe Bilevel Delegation (SBD): A Formal Framework …

The performance of large language model (LLM) agents depends critically on the execution harness, the system layer that orchestrates tool use, context management, and state persistence. Yet this same architectural centrality makes the…

AI agents are able to tackle increasingly complex tasks. To achieve more ambitious goals, AI agents need to be able to meaningfully decompose problems into manageable sub-components, and safely delegate their completion across to other AI…

Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Language Models (LLMs) cannot guarantee…

In the rapidly evolving landscape of Multimodal Large Language Models (MLLMs), the safety concerns of their outputs have earned significant attention. Although numerous datasets have been proposed, they may become outdated with MLLM…

Federated bilevel optimization (FBO) has shown great potential recently in machine learning and edge computing due to the emerging nested optimization structure in meta-learning, fine-tuning, hyperparameter tuning, etc. However, existing…

Bilevel programs (BPs) find a wide range of applications in fields such as energy, transportation, and machine learning. As compared to BPs with continuous (linear/convex) optimization problems in both levels, the BPs with discrete decision…

In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…

We introduce RedDebate, a novel multi-agent debate framework that provides the foundation for Large Language Models (LLMs) to identify and mitigate their unsafe behaviours. Existing AI safety approaches often rely on costly human evaluation…

Agentic AI systems -- Large Language Models (LLMs) augmented with planning, tool use, memory, and long-horizon interactions -- can execute complex tasks autonomously, but their multi-step trajectories introduce new failure modes that…

In safety-critical robotic tasks, potential failures must be reduced, and multiple constraints must be met, such as avoiding collisions, limiting energy consumption, and maintaining balance. Thus, applying safe reinforcement learning (RL)…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Multimodal Large Language Models are increasingly adopted as autonomous agents in interactive environments, yet their ability to proactively address safety hazards remains insufficient. We introduce SafetyALFRED, built upon the embodied…

We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…

We consider problems in sequential decision making with natural multi-level structure, where sub-tasks are assembled together to accomplish complex goals. Systematically inferring and leveraging hierarchical structure has remained a…

The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety in LLM-driven plans remains a critical challenge, as these…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…

Large Language Models (LLMs) have shown remarkable capabilities, with optimizing their input prompts playing a pivotal role in maximizing their performance. However, while LLM prompts consist of both the task-agnostic system prompts and…

Sound Event Localization and Detection (SELD) is crucial in spatial audio processing, enabling systems to detect sound events and estimate their 3D directions. Existing SELD methods use single- or dual-branch architectures: single-branch…

As Multimodal Large Language Models (MLLMs) advance, multimodal agents show promise in real-world tasks like web navigation and embodied intelligence. However, due to limitations in a lack of external feedback, these agents struggle with…