相关论文: Pareto efficiency in synthesizing shared autonomy …

We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…

Simultaneous optimization of multiple objective functions results in a set of trade-off, or Pareto, solutions. Choosing a, in some sense, best solution in this set is in general a challenging task: In the case of three or more objectives…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

Algorithmic fairness seeks to identify and correct sources of bias in machine learning algorithms. Confoundingly, ensuring fairness often comes at the cost of accuracy. We provide formal tools in this work for reconciling this fundamental…

Multi-objective optimization problems can be found in many real-world applications, where the objectives often conflict each other and cannot be optimized by a single solution. In the past few decades, numerous methods have been proposed to…

Machine learning applications frequently come with multiple diverse objectives and constraints that can change over time. Accordingly, trained models can be tuned with sets of hyper-parameters that affect their predictive behavior (e.g.,…

Multi-objective optimization can be found in many real-world applications where some conflicting objectives can not be optimized by a single solution. Existing optimization methods often focus on finding a set of Pareto solutions with…

Pareto optimization via evolutionary multi-objective algorithms has been shown to efficiently solve constrained monotone submodular functions. Traditionally when solving multiple problems, the algorithm is run for each problem separately.…

We address the problem of minimizing the long-run expected average cost of a complex system consisting of interactive subsystems. We formulate a multiobjective optimization problem of the one-stage expected costs of the subsystems and…

In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…

Guaranteeing stringent data freshness for low-altitude unmanned aerial vehicles (UAVs) in shared spectrum forces a critical trade-off between two operational costs: the UAV's own energy consumption and the occupation of terrestrial channel…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given tasks, but it is often in conflict with optimal execution.…

Tasks in multi-task learning often correlate, conflict, or even compete with each other. As a result, a single solution that is optimal for all tasks rarely exists. Recent papers introduced the concept of Pareto optimality to this field and…

We describe algorithms, and experimental strategies, for the Pareto optimal control problem of simultaneously driving an arbitrary number of quantum observable expectation values to their respective extrema. Conventional quantum optimal…

Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

Classification, recommendation, and ranking problems often involve competing goals with additional constraints (e.g., to satisfy fairness or diversity criteria). Such optimization problems are quite challenging, often involving non-convex…

The performance of anytime algorithms can be improved by simultaneously solving several instances of algorithm-problem pairs. These pairs may include different instances of a problem (such as starting from a different initial state),…