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

We consider the problem of computing the maximal invariant set of discrete-time black-box nonlinear systems without analytic dynamical models. Under the assumption that the system is asymptotically stable, the maximal invariant set…

The assurance of real-time properties is prone to context variability. Providing such assurance at design time would require to check all the possible context and system variations or to predict which one will be actually used. Both cases…

This paper presents ModelGuard, a sampling-based approach to runtime model validation for Lipschitz-continuous models. Although techniques exist for the validation of many classes of models the majority of these methods cannot be applied to…

Decision trees are a popular machine learning method, known for their inherent explainability. In Explainable AI, decision trees can be used as surrogate models for complex black box AI models or as approximations of parts of such models. A…

The control design tools for linear systems typically involves pole placement and computing Lyapunov functions which are useful for ensuring stability. But given higher requirements on control design, a designer is expected to satisfy other…

We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…

Large reasoning models have shown strong performance through extended chain-of-thought reasoning, yet their computational cost remains significant. Probably approximately correct (PAC) reasoning provides statistical guarantees for efficient…

Control certificates based on barrier functions have been a powerful tool to generate probably safe control policies for dynamical systems. However, existing methods based on barrier certificates are normally for white-box systems with…

We show how machine-learning techniques, particularly neural networks, offer a very effective and highly efficient solution to the approximate model-checking problem for continuous and hybrid systems, a solution where the general-purpose…

We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system…

While the design of optimal peak-to-peak controllers/observers for linear systems is known to be a difficult problem, this problem becomes interestingly much easier in the context of interval observers because of the positive nature of the…

We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…

We propose a novel belief space planning technique for continuous dynamics by viewing the belief system as a hybrid dynamical system with time-driven switching. Our approach is based on the perturbation theory of differential equations and…

Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…

The development of control methods based on data has seen a surge of interest in recent years. When applying data-driven controllers in real-world applications, providing theoretical guarantees for the closed-loop system is of crucial…

Black-box machine learning models are now routinely used in high-risk settings, like medical diagnostics, which demand uncertainty quantification to avoid consequential model failures. Conformal prediction is a user-friendly paradigm for…

We formally study the problem of classification under adversarial perturbations from a learner's perspective as well as a third-party who aims at certifying the robustness of a given black-box classifier. We analyze a PAC-type framework of…

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…

This paper considers model predictive control of Hammerstein systems, where the linear dynamics are a priori unknown and the input nonlinearity is known. Predictive cost adaptive control (PCAC) is applied to this system using recursive…