相关论文: Adaptive Stress Testing of Trajectory Predictions …

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…

Forecast-then-optimize is a widely-used framework for decision-making problems in power systems. Traditionally, statistical losses have been employed to train forecasting models, but recent research demonstrated that improved decision…

In many risk-aware and multi-objective reinforcement learning settings, the utility of the user is derived from the single execution of a policy. In these settings, making decisions based on the average future returns is not suitable. For…

Machine learning models have prevalent applications in many real-world problems, which increases the importance of correctness in the behaviour of these trained models. Finding a good test case that can reveal the potential failure in these…

Monte Carlo Tree Search (MCTS) has showcased its efficacy across a broad spectrum of decision-making problems. However, its performance often degrades under vast combinatorial action space, especially where an action is composed of multiple…

The prediction of human trajectories is important for planning in autonomous systems that act in the real world, e.g. automated driving or mobile robots. Human trajectory prediction is a noisy process, and no prediction does precisely match…

Developing and fielding complex systems requires proof that they are reliably correct with respect to their design and operating requirements. Especially for autonomous systems which exhibit unanticipated emergent behavior, fully…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

Trajectory prediction is a key element of autonomous vehicle systems, enabling them to anticipate and react to the movements of other road users. Evaluating the robustness of prediction models against adversarial attacks is essential to…

Survival analysis studies and predicts the time of death, or other singular unrepeated events, based on historical data, while the true time of death for some instances is unknown. Survival trees enable the discovery of complex nonlinear…

In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this setting stems from the mixed nature of the problem, namely…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

Self-adaptive software is considered as the most advanced approach and its development attracts a lot of attention. Decentralization is an effective way to design and manage the complexity of modern self-adaptive software systems. However,…

The deployment of multimodal models in high-stakes domains, such as self-driving vehicles and medical diagnostics, demands not only strong predictive performance but also reliable mechanisms for detecting failures. In this work, we address…

Active policy search combines the trial-and-error methodology from policy search with Bayesian optimization to actively find the optimal policy. First, policy search is a type of reinforcement learning which has become very popular for…

Recently, the evolution of deep learning has promoted the application of machine learning (ML) to various systems. However, there are ML systems, such as autonomous vehicles, that cause critical damage when they misclassify. Conversely,…

Gradient-boosted trees achieve strong performance on tabular data, yet often leave a long tail of poorly predicted instances. We introduce a Trajectory-based Difficulty Score (TDS), an instance-level difficulty estimator for boosted…

Black-box AI (BBAI) systems such as foundational models are increasingly being used for sequential decision making. To ensure that such systems are safe to operate and deploy, it is imperative to develop efficient methods that can provide a…

We examine the problem of adversarial reinforcement learning for multi-agent domains including a rule-based agent. Rule-based algorithms are required in safety-critical applications for them to work properly in a wide range of situations.…