相关论文: CHARDA: Causal Hybrid Automata Recovery via Dynami…

Performing anomaly detection in hybrid systems is a challenging task since it requires analysis of timing behavior and mutual dependencies of both discrete and continuous signals. Typically, it requires modeling system behavior, which is…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

We show techniques of analyzing complex dynamics of cellular automata (CA) with chaotic behaviour. CA are well known computational substrates for studying emergent collective behaviour, complexity, randomness and interaction between order…

Temporal causal representation learning methods assume that causal mechanisms switch instantaneously between discrete domains, yet real-world systems often exhibit continuous mechanism transitions. For example, a vehicle's dynamics evolve…

Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Latent world models allow agents to reason about complex environments with high-dimensional observations. However, adapting to new environments and effectively leveraging previous knowledge remain significant challenges. We present…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Human Activity Recognition (HAR) is essential in ubiquitous computing, with far-reaching real-world applications. While recent SOTA HAR research has demonstrated impressive performance, some key aspects remain under-explored. Firstly, HAR…

We propose Conditional Adapter (CoDA), a parameter-efficient transfer learning method that also improves inference efficiency. CoDA generalizes beyond standard adapter approaches to enable a new way of balancing speed and accuracy using…

We show how the basic Combinatory Homomorphic Automatic Differentiation (CHAD) algorithm can be optimised, using well-known methods, to yield a simple, composable, and generally applicable reverse-mode automatic differentiation (AD)…

Deep reinforcement learning is used in various domains, but usually under the assumption that the environment has stationary conditions like transitions and state distributions. When this assumption is not met, performance suffers. For this…

Conventional domain adaptation typically transfers knowledge from a source domain to a stationary target domain. However, in many real-world cases, target data usually emerge sequentially and have continuously evolving distributions.…

This paper introduces an algorithm for discovering implicit and delayed causal relations between events observed by a robot at arbitrary times, with the objective of improving data-efficiency and interpretability of model-based…

We introduce Causal Program Dependence Analysis (CPDA), a dynamic dependence analysis that applies causal inference to model the strength of program dependence relations in a continuous space. CPDA observes the association between program…

In always-on HAR deployments, model accuracy erodes silently as domain shift accumulates over time. Addressing this challenge requires moving beyond one-off updates toward instance-driven adaptation from streaming data. However, continuous…

In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. However, its differentiable MPC layer requires repeatedly solving…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

Computer vision models suffer from a phenomenon known as catastrophic forgetting when learning novel concepts from continuously shifting training data. Typical solutions for this continual learning problem require extensive rehearsal of…

Understanding environment dynamics is necessary for robots to act safely and optimally in the world. In realistic scenarios, dynamics are non-stationary and the causal variables such as environment parameters cannot necessarily be precisely…