相关论文: Reachable Polyhedral Marching (RPM): A Safety Veri…

In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a…

Formal verification of neural networks is essential before their deployment in safety-critical applications. However, existing methods for formally verifying neural networks are not yet scalable enough to handle practical problems under…

This paper studies the problem of range analysis for feedforward neural networks, which is a basic primitive for applications such as robustness of neural networks, compliance to specifications and reachability analysis of neural-network…

Motion cueing algorithms (MCA) are used to control the movement of motion simulation platforms (MSP) to reproduce the motion perception of a real vehicle driver as accurately as possible without exceeding the limits of the workspace of the…

For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these sets can be computationally expensive,…

In this paper, we consider the problem of formally verifying the safety of an autonomous robot equipped with a Neural Network (NN) controller that processes LiDAR images to produce control actions. Given a workspace that is characterized by…

Latent world models can contain the state needed for control, yet their terminal-cost interface can expose the planner to the wrong decision-relevant information. In common latent MPC, candidate sequences are ranked by Euclidean distance…

Effective detection of unknown network security threats in multi-class imbalanced environments is critical for maintaining cyberspace security. Current methods focus on learning class representations but face challenges with unknown threat…

This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…

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,…

We introduce RPM-Net, a deep learning-based approach which simultaneously infers movable parts and hallucinates their motions from a single, un-segmented, and possibly partial, 3D point cloud shape. RPM-Net is a novel Recurrent Neural…

Knowing and predicting dangerous factors within a scene are two key components during autonomous driving, especially in a crowded urban environment. To navigate safely in environments, risk assessment is needed to quantify and associate the…

We can compare the expressiveness of neural networks that use rectified linear units (ReLUs) by the number of linear regions, which reflect the number of pieces of the piecewise linear functions modeled by such networks. However,…

In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for obtaining zonotopic…

Despite achieving excellent performance on benchmarks, deep neural networks often underperform in real-world deployment due to sensitivity to minor, often imperceptible shifts in input data, known as distributional shifts. These shifts are…

Safety certification of data-driven control techniques remains a major open problem. This work investigates backward reachability as a framework for providing collision avoidance guarantees for systems controlled by neural network (NN)…

We derive universal approximation results for the class of (countably) $m$-rectifiable measures. Specifically, we prove that $m$-rectifiable measures can be approximated as push-forwards of the one-dimensional Lebesgue measure on $[0,1]$…

Secure multi-party computation (MPC) techniques can be used to provide data privacy when users query deep neural network (DNN) models hosted on a public cloud. State-of-the-art MPC techniques can be directly leveraged for DNN models that…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…

Homomorphic encryption is one of the representative solutions to privacy-preserving machine learning (PPML) classification enabling the server to classify private data of clients while guaranteeing privacy. This work focuses on PPML using…