相关论文: Runtime Safety Assurance for Learning-enabled Cont…

This paper presents a safe reinforcement learning system for automated driving that benefits from multimodal future trajectory predictions. We propose a safety system that consists of two safety components: a heuristic safety and a…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

Autonomous Vehicles (AVs), furnished with sensors capable of capturing essential vehicle dynamics such as speed, acceleration, and precise location, possess the capacity to execute intelligent maneuvers, including lane changes, in…

Guaranteeing safety of perception-based learning systems is challenging due to the absence of ground-truth state information unlike in state-aware control scenarios. In this paper, we introduce a safety guaranteed learning framework for…

Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

We address the problem of safely learning controlled stochastic dynamics from discrete-time trajectory observations, ensuring system trajectories remain within predefined safe regions during both training and deployment. Safety-critical…

Active suspension systems are critical for enhancing vehicle comfort, safety, and stability, yet their performance is often limited by fixed hardware designs and control strategies that cannot adapt to uncertain and dynamic operating…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

Deep reinforcement learning (DRL) has a great potential for solving complex decision-making problems in autonomous driving, especially in mixed-traffic scenarios where autonomous vehicles and human-driven vehicles (HDVs) drive together.…

In multi-agent safety-critical scenarios, traditional autonomous driving frameworks face significant challenges in balancing safety constraints and task performance. These frameworks struggle to quantify dynamic interaction risks in…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Motion control algorithms in the presence of pedestrians are critical for the development of safe and reliable Autonomous Vehicles (AVs). Traditional motion control algorithms rely on manually designed decision-making policies which neglect…

Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Shielding is a common method used to guarantee the safety of a system under a black-box controller, such as a neural network controller from deep reinforcement learning (DRL), with simpler, verified controllers. Existing shielding methods…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

Many existing traffic signal controllers are either simple adaptive controllers based on sensors placed around traffic intersections, or optimized by traffic engineers on a fixed schedule. Optimizing traffic controllers is time consuming…