相关论文: GoTube: Scalable Stochastic Verification of Contin…

This paper presents, in a unified fashion, deterministic as well as statistical Lagrangian-verification techniques. They formally quantify the behavioral robustness of any time-continuous process, formulated as a continuous-depth model. To…

Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…

Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…

We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains…

In this paper, we present YoTube-a novel network fusion framework for searching action proposals in untrimmed videos, where each action proposal corresponds to a spatialtemporal video tube that potentially locates one human action. Our…

Interactive Imitation Learning deals with training a novice policy from expert demonstrations in an online fashion. The established DAgger algorithm trains a robust novice policy by alternating between interacting with the environment and…

We propose a robust scheme for streaming 360-degree immersive videos to maximize the quality of experience (QoE). Our streaming approach introduces a holistic analytical framework built upon the formal method of stochastic optimization. We…

Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control…

Requirements driven search-based testing (also known as falsification) has proven to be a practical and effective method for discovering erroneous behaviors in Cyber-Physical Systems. Despite the constant improvements on the performance and…

In this paper we study reachability verification problems of stochastic discrete-time dynamical systems over the infinite time horizon. The reachability verification of interest in this paper is to certify specified lower and upper bounds…

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…

Chain-of-Thought (CoT) reasoning has advanced large language models (LLMs), but outcome-based supervision leads to pervasive post-hoc rationalization, producing plausible yet unfaithful reasoning chains. Most prior faithfulness assessment…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

We address the problem of safety verification for nonlinear stochastic systems, specifically the task of certifying that system trajectories remain within a safe set with high probability. To tackle this challenge, we adopt a set-erosion…

Because the choice and tuning of the optimizer affects the speed, and ultimately the performance of deep learning, there is significant past and recent research in this area. Yet, perhaps surprisingly, there is no generally agreed-upon…

In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles. We develop a real-time tube synthesis procedure that…

Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…

We recently introduced a novel architecture for the design of validated IVP algorithms. This architecture forms the basis of our complete validated algorithm for IVP. A key subroutine in our algorithm is the \textbf{Euler Tube}: it gave a…

Code sandboxes have emerged as a critical infrastructure for advancing the coding capabilities of large language models, providing verifiable feedback for both RL training and evaluation. However, existing systems fail to provide accurate…

Learning optimal control policies directly on physical systems is challenging since even a single failure can lead to costly hardware damage. Most existing model-free learning methods that guarantee safety, i.e., no failures, during…