相关论文: Neural Simplex Architecture

Increasingly Industrial Control Systems (ICS) systems are being connected to the Internet to minimise the operational costs and provide additional flexibility. These control systems such as the ones used in power grids, manufacturing and…

Neural networks have become increasingly popular in controller design due to their versatility and efficiency. However, their integration into feedback systems can pose stability challenges, particularly in the presence of uncertainties.…

Spiking Neural Networks (SNNs) offer low-latency and energy-efficient decision making on neuromorphic hardware, making them attractive for Reinforcement Learning (RL) in resource-constrained edge devices. However, most RL algorithms for…

This paper presents two new control approaches 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…

Neuromorphic computing is a relatively new discipline of computer science, where the principles of biological brain's computation and memory are used to create a new way of processing information, based on networks of spiking neurons. Those…

Neural cellular automata (Neural CA) are a recent framework used to model biological phenomena emerging from multicellular organisms. In these systems, artificial neural networks are used as update rules for cellular automata. Neural CA are…

The integration of neural networks into safety-critical systems has shown great potential in recent years. However, the challenge of effectively verifying the safety of Neural Network Controlled Systems (NNCS) persists. This paper…

Concurrency control (CC) algorithms must trade off strictness for performance. Serializable CC schemes generally pay higher cost to prevent anomalies, both in runtime overhead and in efforts wasted by aborting transactions. We propose the…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of…

We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with learning…

Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide…

We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…

Spiking Neural Networks (SNNs) promise energy-efficient computing through event-driven sparsity, yet all existing approaches sacrifice accuracy by approximating continuous values with discrete spikes. We propose NEXUS, a framework that…

Deploying deep neural networks (DNNs) as core functions in autonomous driving creates unique verification and validation challenges. In particular, the continuous engineering paradigm of gradually perfecting a DNN-based perception can make…

In this paper, we propose SAMBA, a novel framework for safe reinforcement learning that combines aspects from probabilistic modelling, information theory, and statistics. Our method builds upon PILCO to enable active exploration using…

We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…

Despite recent progress in training spiking neural networks (SNNs) for classification, their application to continuous motor control remains limited. Here, we demonstrate that fully spiking architectures can be trained end-to-end to control…

Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this decoupled design with hand-tuned, fixed CBF parameters often…

Neural Processes (NPs) are a rapidly evolving class of models designed to directly model the posterior predictive distribution of stochastic processes. While early architectures were developed primarily as a scalable alternative to Gaussian…