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With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with such complex systems, typically under challenging and…

In this paper we prove the existence of a fundamental trade-off between accuracy and robustness in perception-based control, where control decisions rely solely on data-driven, and often incompletely trained, perception maps. In particular,…

Model selection in the presence of intractable likelihoods remains a central challenge in Bayesian inference. Approximate Bayesian computation (ABC) provides a flexible likelihood-free framework, but its use for model choice is known to be…

As 3-point shooting in the NBA continues to increase, the importance of perimeter defense has never been greater. Perimeter defenders are often evaluated by their ability to tightly contest shots, but how exactly does contesting a jump shot…

Learning fast and robust ball-kicking skills is a critical capability for humanoid soccer robots, yet it remains a challenging problem due to the need for rapid leg swings, postural stability on a single support foot, and robustness under…

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This…

In 2009, the National Academy of Sciences published a report questioning the scientific validity of many forensic methods including firearm examination. Firearm examination is a forensic tool used to help the court determine whether two…

The underlying physics of basketball shooting seems to be a straightforward example of the Newtonian mechanics that can easily be traced by numerical methods. However, a human basketball player does not make use of all the possible…

Forward reachability analysis is a dominant approach for verifying reach-avoid specifications in neural feedback systems, i.e., dynamical systems controlled by neural networks, and a number of directions have been proposed and studied. In…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Approximate Bayesian Computation (ABC) has gained popularity as a method for conducting inference and forecasting in complex models, most notably those which are intractable in some sense. In this paper we use ABC to produce probabilistic…

Real-world legged locomotion systems often need to reconcile agility and safety for different scenarios. Moreover, the underlying dynamics are often unknown and time-variant (e.g., payload, friction). In this paper, we introduce BAS…

Assuring safety for ``AI-based'' systems is one of the current challenges in safety engineering. For automated driving systems, in particular, further assurance challenges result from the open context that the systems need to operate in…

Statistical analysis is a major aspect of baseball, from player averages to historical benchmarks and records. Much of baseball fanfare is based around players exceeding the norm, some in a single game and others over a long career. Career…

Approximate Bayesian computation (ABC) is a widely used inference method in Bayesian statistics to bypass the point-wise computation of the likelihood. In this paper we develop theoretical bounds for the distance between the statistics used…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving…

The normalized edit distance is one of the distances derived from the edit distance. It is useful in some applications because it takes into account the lengths of the two strings compared. The normalized edit distance is not defined in…