相关论文: Improved Safe Real-time Heuristic Search

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

LLM Agents are becoming central to intelligent systems. However, their deployment raises serious safety concerns. Existing defenses largely rely on "Safety Checks", which struggle to capture the complex semantic risks posed by harmful user…

Suicide bombing is an infamous form of terrorism that is becoming increasingly prevalent in the current era of global terror warfare. We consider the case of targeted attacks of this kind, and the use of detectors distributed over the area…

Robustness and safety are critical for the trustworthy deployment of deep reinforcement learning. Real-world decision making applications require algorithms that can guarantee robust performance and safety in the presence of general…

A common problem encountered in many real-world applications is level set estimation where the goal is to determine the region in the function domain where the function is above or below a given threshold. When the function is black-box and…

Safely exploring an unknown dynamical system is critical to the deployment of reinforcement learning (RL) in physical systems where failures may have catastrophic consequences. In scenarios where one knows little about the dynamics, diverse…

The paper is a second in a series of two papers evaluating the power of a new scheme that generates search heuristics mechanically. The heuristics are extracted from an approximation scheme called mini-bucket elimination that was recently…

Taking into account future risk is essential for an autonomously operating robot to find online not only the best but also a safe action to execute. In this paper, we build upon the recently introduced formulation of probabilistic…

Current LLM-based conversational recommender systems (CRS) primarily optimize recommendation accuracy and user satisfaction. We identify an underexplored vulnerability in which recommendation outputs may negatively impact users by violating…

This thesis studies advanced probabilistic models, including both their theoretical foundations and practical applications, for different semi-supervised learning (SSL) tasks. The proposed probabilistic methods are able to improve the…

To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process…

Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…

Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…

Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…

We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…

In many Deep Reinforcement Learning (RL) problems, decisions in a trained policy vary in significance for the expected safety and performance of the policy. Since RL policies are very complex, testing efforts should concentrate on states in…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the most promising regions, which significantly reduces…

In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…