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

The desire to use reinforcement learning in safety-critical settings has inspired a recent interest in formal methods for learning algorithms. Existing formal methods for learning and optimization primarily consider the problem of…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

As neural networks (NNs) become increasingly prevalent in safety-critical neural network-controlled cyber-physical systems (NNCSs), formally guaranteeing their safety becomes crucial. For these systems, safety must be ensured throughout…

Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…

Simulators based on neural networks offer a path to orders-of-magnitude faster electromagnetic wave simulations. Existing models, however, only address narrowly tailored classes of problems and only scale to systems of a few dozen degrees…

Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

In this paper, we consider the problem of training neural network (NN) controllers for nonlinear dynamical systems that are guaranteed to satisfy safety and liveness (e.g., reach-avoid) properties. Our approach is to combine model-based…

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…

In this paper, we examine an important problem of learning neural networks that certifiably meet certain specifications on input-output behaviors. Our strategy is to find an inner approximation of the set of admissible policy parameters,…

Semidefinite programming (SDP) relaxation has emerged as a promising approach for neural network verification, offering tighter bounds than other convex relaxation methods for deep neural networks (DNNs) with ReLU activations. However, we…

We present the first formal verification of approximation algorithms for NP-complete optimization problems: vertex cover, independent set, set cover, center selection, load balancing, and bin packing. We uncover incompletenesses in existing…

We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…

Ensuring the safety and efficiency of AI systems is a central goal of modern research. Formal verification provides guarantees of neural network robustness, while early exits improve inference efficiency by enabling intermediate…

We propose a Newton-based scheme, initialized by neural operator predictions, to accelerate the parametric solution of nonlinear problems in computational solid mechanics. First, a physics informed conditional neural field is trained to…

We develop the first (to the best of our knowledge) provably correct neural networks for a precise computational task, with the proof of correctness generated by an automated verification algorithm without any human input. Prior work on…

In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…

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…

State-of-the-art neural network verifiers are fundamentally based on one of two paradigms: either encoding the whole verification problem via tight multi-neuron convex relaxations or applying a Branch-and-Bound (BaB) procedure leveraging…

Contraction metrics are crucial in control theory because they provide a powerful framework for analyzing stability, robustness, and convergence of various dynamical systems. However, identifying these metrics for complex nonlinear systems…