相关论文: Safe Pontryagin Differentiable Programming

We develop a method for obtaining safe initial policies for reinforcement learning via approximate dynamic programming (ADP) techniques for uncertain systems evolving with discrete-time dynamics. We employ kernelized Lipschitz estimation…

The rise of programmable data plane (PDP) and in-network computing (INC) paradigms paves the way for the development of network devices (switches, network interface cards, etc.) capable of performing advanced processing tasks. This allows…

We study the problem of computing deterministic optimal policies for constrained Markov decision processes (MDPs) with continuous state and action spaces, which are widely encountered in constrained dynamical systems. Designing…

Differential privacy (DP) provides a formal privacy guarantee that prevents adversaries with access to machine learning models from extracting information about individual training points. Differentially private stochastic gradient descent…

Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However, the safety of generated motions remains overlooked,…

In classical reinforcement learning, when exploring an environment, agents accept arbitrary short term loss for long term gain. This is infeasible for safety critical applications, such as robotics, where even a single unsafe action may…

This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…

We study differentially private (DP) machine learning algorithms as instances of noisy fixed-point iterations, in order to derive privacy and utility results from this well-studied framework. We show that this new perspective recovers…

Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…

Safe learning of control policies remains challenging, both in optimal control and reinforcement learning. In this article, we consider safe learning of parametrized predictive controllers that operate with incomplete information about the…

Optimal and safety-critical control are fundamental problems for stochastic systems, and are widely considered in real-world scenarios such as robotic manipulation and autonomous driving. In this paper, we consider the problem of…

Large language models (LLMs) are increasingly integrated into real-time machine learning applications, where safeguarding user privacy is paramount. Traditional differential privacy mechanisms often struggle to balance privacy and accuracy,…

We study the problem of refining satisfiability bounds for partially-known stochastic systems against planning specifications defined using syntactically co-safe Linear Temporal Logic (scLTL). We propose an abstraction-based approach that…

Personalized privacy becomes critical in deep learning for Trustworthy AI. While Differentially Private Stochastic Gradient Descent (DP-SGD) is widely used in deep learning methods supporting privacy, it provides the same level of privacy…

We address the problem of learning a machine learning model from training data that originates at multiple data owners while providing formal privacy guarantees regarding the protection of each owner's data. Existing solutions based on…

This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques…

Recent focus on robustness to adversarial attacks for deep neural networks produced a large variety of algorithms for training robust models. Most of the effective algorithms involve solving the min-max optimization problem for training…

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…

Cache coherence protocols based on self-invalidation and self-downgrade have recently seen increased popularity due to their simplicity, potential performance efficiency, and low energy consumption. However, such protocols result in memory…

We consider three different variants of differential privacy (DP), namely approximate DP, R\'enyi DP (RDP), and hypothesis test DP. In the first part, we develop a machinery for optimally relating approximate DP to RDP based on the joint…