相关论文: Neural Simplex Architecture

This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the system's states. We present a neural model predictive control…

The Synthetic Nervous System (SNS) is a biologically inspired neural network (NN). Due to its capability of capturing complex mechanisms underlying neural computation, an SNS model is a candidate for building compact and interpretable NN…

Intelligent systems across physics, language and perception often exhibit factorisable structure, yet are typically modelled by monolithic neural architectures that do not explicitly exploit this structure. The separable neural architecture…

Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…

Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…

A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the pose at a finite number of locations along the length of the…

As autonomous and agentic AI systems scale in robotic and human-machine environments, managing hallucination and persistent but unjustified action remains an open challenge. Rather than attributing these failures solely to model or…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

We study the problem of designing a controller that satisfies an arbitrary number of affine inequalities at every point in the state space. This is motivated by the fact that a variety of key control objectives, such as stability, safety,…

Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty. We present a method for jointly…

The Abstraction and Reasoning Corpus (ARC) evaluates general reasoning capabilities that are difficult for both machine learning models and combinatorial search methods. We propose a neuro-symbolic approach that combines a transformer for…

A long-standing proposition is that by emulating the operation of the brain's neocortex, a spiking neural network (SNN) can achieve similar desirable features: flexible learning, speed, and efficiency. Temporal neural networks (TNNs) are…

Neural operators have emerged as fast surrogate models for physics simulations, yet they remain acutely vulnerable to adversarial perturbations, a critical liability for safety-critical digital twin deployments. We present a synergistic…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

Spiking neural networks (SNNs) exploit event-driven and addition-only computation to substantially improve efficiency for intelligent computation. A key temporal property of SNNs, elastic inference, allows outputs to emerge progressively,…

Third-generation artificial neural networks, Spiking Neural Networks (SNNs), can be efficiently implemented on hardware. Their implementation on neuromorphic chips opens a broad range of applications, such as machine learning-based…

Spiking neurons, the fundamental information processing units of Spiking Neural Networks (SNNs), have the all-or-zero information output form that allows SNNs to be more energy-efficient compared to Artificial Neural Networks (ANNs).…

In this study, we propose a novel adaptive control architecture, which provides dramatically better transient response performance compared to conventional adaptive control methods. What makes this architecture unique is the synergistic…