Related papers: Auditable Decision Models with Learned Abstention …

We study a sequential contextual decision-making problem in which certain covariates are missing but can be imputed using a pre-trained AI model. From a theoretical perspective, we analyze how the presence of such a model influences the…

Recently developed pretrained models can encode rich world knowledge expressed in multiple modalities, such as text and images. However, the outputs of these models cannot be integrated into algorithms to solve sequential decision-making…

Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining robust to uncertainty. This work presents a novel framework…

Advanced Persistent Threats (APTs) represent a significant challenge in cybersecurity due to their prolonged, multi-stage nature and the sophistication of their operators. Traditional detection systems typically focus on identifying…

Predictive control can either be data-based (e.g. data-enabled predictive control, or DeePC) or model-based (model predictive control). In this paper we aim to bridge the gap between the two by investigating the case where only a partial…

Robotic systems deployed in real-world environments often operate under conditions of partial and often intermittent observability, where sensor inputs may be noisy, occluded, or entirely unavailable due to failures or environmental…

Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental noise and model error can cause deviations from the expected…

In the pursuit of developing expressive music performance models using artificial intelligence, this paper introduces DExter, a new approach leveraging diffusion probabilistic models to render Western classical piano performances. In this…

As interactive generative systems are increasingly deployed in real-world applications, their tendency to generate unreliable or false responses raises serious concerns. Conformal abstention mitigates this risk by ensuring that the system…

Data-enabled predictive control (DeePC) is a data-driven control algorithm that utilizes data matrices to form a non-parametric representation of the underlying system, predicting future behaviors and generating optimal control actions.…

As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…

Autonomous driving (AD) systems are becoming increasingly capable of handling complex tasks, mainly due to recent advances in deep learning and AI. As interactions between autonomous systems and humans increase, the interpretability of…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…

We present exact algorithms for identifying deterministic-actions effects and preconditions in dynamic partially observable domains. They apply when one does not know the action model(the way actions affect the world) of a domain and must…

Real-world large language model deployments (e.g., conversational AI systems, code generation assistants) naturally generate abundant implicit user dissatisfaction (DSAT) signals, as users iterate toward better answers through refinements,…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Two fundamental requirements for the deployment of machine learning models in safety-critical systems are to be able to detect out-of-distribution (OOD) data correctly and to be able to explain the prediction of the model. Although…

Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…

Deep neural networks often struggle to recognize when an input lies outside their training experience, leading to unreliable and overconfident predictions. Building dependable machine learning systems therefore requires methods that can…