相关论文: SAMBA: Safe Model-Based & Active Reinforcement Lea…

Active learning of physical systems must commonly respect practical safety constraints, which restricts the exploration of the design space. Gaussian Processes (GPs) and their calibrated uncertainty estimations are widely used for this…

Learning human motion based on a time-dependent input signal presents a challenging yet impactful task with various applications. The goal of this task is to generate or estimate human movement that consistently reflects the temporal…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

We derive and analyze a new, efficient, pool-based active learning algorithm for halfspaces, called ALuMA. Most previous algorithms show exponential improvement in the label complexity assuming that the distribution over the instance space…

We propose a new sampling strategy, called smart active sapling, for quality inspections outside the production line. Based on the principles of active learning a machine learning model decides which samples are sent to quality inspection.…

Foundation models, now powering most of the exciting applications in deep learning, are almost universally based on the Transformer architecture and its core attention module. Many subquadratic-time architectures such as linear attention,…

Recent progress in AI and Reinforcement learning has shown great success in solving complex problems with high dimensional state spaces. However, most of these successes have been primarily in simulated environments where failure is of…

Despite the availability of ever more data enabled through modern sensor and computer technology, it still remains an open problem to learn dynamical systems in a sample-efficient way. We propose active learning strategies that leverage…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

State-space models (SSMs), exemplified by the Mamba architecture, have recently emerged as state-of-the-art sequence-modeling frameworks, offering linear-time scalability together with strong performance in long-context settings. Owing to…

While the conditional sequence modeling with the transformer architecture has demonstrated its effectiveness in dealing with offline reinforcement learning (RL) tasks, it is struggle to handle out-of-distribution states and actions.…

This paper presents a novel approach for augmenting proof-based verification with performance-style analysis of the kind employed in state-of-the-art model checking tools for probabilistic systems. Quantitative safety properties usually…

Autonomous Cyber-Physical Systems must often operate under uncertainties like sensor degradation and shifts in the operating conditions, which increases its operational risk. Dynamic Assurance of these systems requires designing runtime…

Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training and rollout remains an open question. We propose a new…

Adversarial robustness evaluation faces a critical challenge as new defense paradigms emerge that can exploit limitations in existing assessment methods. This paper reveals that Dummy Classes-based defenses, which introduce an additional…

Model-based reinforcement learning (RL) is considered to be a promising approach to reduce the sample complexity that hinders model-free RL. However, the theoretical understanding of such methods has been rather limited. This paper…

The Segment Anything Model (SAM) is a widely used vision foundation model with diverse applications, including image segmentation, detection, and tracking. Given SAM's wide applications, understanding its robustness against adversarial…

This paper develops a novel machine learning-based framework using Semi-Supervised Multi-Task Learning (SS-MTL) for power system dynamic security assessment that is accurate, reliable, and aware of topological changes. The learning…

Safety and scalability are two critical challenges faced by practical Multi-Agent Systems (MAS). However, existing Multi-Agent Reinforcement Learning (MARL) algorithms that rely solely on reward shaping are ineffective in ensuring safety,…

State-space models (SSMs), such as Mamba (Gu & Dao, 2023), have been proposed as alternatives to Transformer networks in language modeling, by incorporating gating, convolutions, and input-dependent token selection to mitigate the quadratic…