相关论文: A Scenario Approach to Risk-Aware Safety-Critical …

With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…

Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…

This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…

This paper discusses a scenario approach to robust optimization of a blackbox function in a bandit setting. We assume that the blackbox function can be modeled as a Gaussian Process (GP) for every realization of the uncertain parameter. We…

The deployment of autonomous systems that operate in unstructured environments necessitates algorithms to verify their safety. This can be challenging due to, e.g., black-box components in the control software, or undermodelled dynamics…

Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. This paper introduces Probabilistic Safety Programs (PSP) that embed both the…

Robust planning in interactive scenarios requires predicting the uncertain future to make risk-aware decisions. Unfortunately, due to long-tail safety-critical events, the risk is often under-estimated by finite-sampling approximations of…

We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…

This paper investigates the problem of safety certification for black-box discrete-time stochastic systems, where both the system dynamics and disturbance distributions are unknown, and only sampled data are available. Under such limited…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

The rapid integration of AI algorithms in safety-critical applications such as autonomous driving and healthcare is raising significant concerns about the ability to meet stringent safety standards. Traditional tools for formal safety…

This paper proposes a risk-aware control approach to enforce safety for discrete-time nonlinear systems subject to stochastic uncertainties. We derive some useful results on the worst-case Conditional Value-at-Risk (CVaR) and define a…

The increasing use of deep neural networks for safety-critical applications, such as autonomous driving and flight control, raises concerns about their safety and reliability. Formal verification can address these concerns by guaranteeing…

Much of uncertainty quantification to date has focused on determining the effect of variables modeled probabilistically, and with a known distribution, on some physical or engineering system. We develop methods to obtain information on the…

Building models that comply with the invariances inherent to different domains, such as invariance under translation or rotation, is a key aspect of applying machine learning to real world problems like molecular property prediction,…

Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…

Autonomous and semi-autonomous systems are using deep learning models to improve decision-making. However, deep classifiers can be overly confident in their incorrect predictions, a major issue especially in safety-critical domains. The…

This paper offers a direct data-driven approach for learning robust control barrier certificates (R-CBCs) and robust safety controllers (R-SCs) for discrete-time input-affine polynomial systems with unknown dynamics under…

Scenario reduction algorithms can be an effective means to provide a tractable description of the uncertainty in optimal control problems. However, they might significantly compromise the performance of the controlled system. In this paper,…

Evaluating the reliability of intelligent physical systems against rare safety-critical events poses a huge testing burden for real-world applications. Simulation provides a useful platform to evaluate the extremal risks of these systems…