相关论文: Formal Verification of Neural Network Controlled A…

Deep neural networks have become widely used, obtaining remarkable results in domains such as computer vision, speech recognition, natural language processing, audio recognition, social network filtering, machine translation, and…

In this paper we study the optimal control of a class of semilinear elliptic partial differential equations which have nonlinear constituents that are only accessible by data and are approximated by nonsmooth ReLU neural networks. The…

The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…

A common technique for checking properties of complex state machines is to build a finite abstraction then check the property on the abstract system -- where a passing check on the abstract system is only transferred to the original system…

Verifying properties and interpreting the behaviour of deep neural networks (DNN) is an important task given their ubiquitous use in applications, including safety-critical ones, and their black-box nature. We propose an automata-theoric…

In this paper we investigate formal verification of extracted rules for Neural Networks under a complexity theoretic point of view. A rule is a global property or a pattern concerning a large portion of the input space of a network. These…

In this paper, we introduce a flexible notion of safety verification for nonlinear autonomous systems by measuring how much time the system spends in given unsafe regions. We consider this problem in the particular case of nonlinear systems…

The success of Deep Learning and its potential use in many safety-critical applications has motivated research on formal verification of Neural Network (NN) models. In this context, verification involves proving or disproving that an NN…

A predictive control barrier function (PCBF) based safety filter is a modular framework to verify safety of a control input by predicting a future trajectory. The approach relies on the solution of two optimization problems, first computing…

Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness. Small perturbations to sensor inputs…

Neural networks have demonstrated considerable success on a wide variety of real-world problems. However, networks trained only to optimize for training accuracy can often be fooled by adversarial examples - slightly perturbed inputs that…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

We propose a convex optimization procedure for black-box identification of nonlinear state-space models for systems that exhibit stable limit cycles (unforced periodic solutions). It extends the "robust identification error" framework in…

Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…

Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…

This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

The reliable deployment of neural networks in control systems requires rigorous robustness guarantees. In this paper, we obtain tight robustness certificates over convex attack sets for min-max representations of ReLU neural networks by…

Advances in computer vision and machine learning enable robots to perceive their surroundings in powerful new ways, but these perception modules have well-known fragilities. We consider the problem of synthesizing a safe controller that is…

Deep Neural Networks (DNNs) are rapidly being applied to safety-critical domains such as drone and airplane control, motivating techniques for verifying the safety of their behavior. Unfortunately, DNN verification is NP-hard, with current…