相关论文: PAC Model Checking of Black-Box Continuous-Time Dy…

This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain…

Within the framework of probably approximately correct Markov decision processes (PAC-MDP), much theoretical work has focused on methods to attain near optimality after a relatively long period of learning and exploration. However,…

We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…

An important challenge facing modern machine learning is how to rigorously quantify the uncertainty of model predictions. Conveying uncertainty is especially important when there are changes to the underlying data distribution that might…

Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a…

The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved…

Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…

Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In this paper, we study the problem of certifying almost sure…

Real world evolves in continuous time but computations are done from finite samples. Therefore, we study algorithms using finite observations in continuous-time linear dynamical systems. We first study the system identification problem, and…

Verification of real-time systems involving hard timing constraints and concurrency is of utmost importance. Parametric timed model checking allows for formal verification in the presence of unknown timing constants or uncertainty (e.g.…

We propose an approach on model checking information flow for imperative language with procedures. We characterize our model with pushdown system, which has a stack of unbounded length that naturally models the execution of procedural…

Model-based safety analysis approaches aim at finding critical failure combinations by analysis of models of the whole system (i.e. software, hardware, failure modes and environment). The advantage of these methods compared to traditional…

Autonomous cyber-physical systems (CPS) can improve safety and efficiency for safety-critical applications, but require rigorous testing before deployment. The complexity of these systems often precludes the use of formal verification and…

The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…

This paper establishes problem-specific sample complexity lower bounds for linear system identification problems. The sample complexity is defined in the PAC framework: it corresponds to the time it takes to identify the system parameters…

The discovery of causal relationships is a foundational problem in artificial intelligence, statistics, epidemiology, economics, and beyond. While elegant theories exist for accurate causal discovery given infinite data, real-world…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…

This paper studies the closed-loop dynamics of linear systems under approximate model predictive control (MPC). More precisely, we consider MPC implementations based on a finite number of ADMM iterations per time-step. We first show that…

We consider the problem of controlling an unknown linear time-invariant dynamical system from a single chain of black-box interactions, with no access to resets or offline simulation. Under the assumption that the system is controllable, we…

Bringing transparency to black-box decision making systems (DMS) has been a topic of increasing research interest in recent years. Traditional active and passive approaches to make these systems transparent are often limited by scalability…