相关论文: Synthesize Efficient Safety Certificates for Learn…

A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over the infinite time horizon. We present a…

We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…

We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…

Recently, reinforcement learning has been used to address logic synthesis by formulating the operator sequence optimization problem as a Markov decision process. However, through extensive experiments, we find out that the learned policy…

Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…

We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with bounded additive uncertainty and convex polynomial constraints on the control. We first formulate robust…

Large language models (LLMs) are increasingly used in software development, yet their tendency to generate insecure code remains a major barrier to real-world deployment. Existing secure code alignment methods often suffer from a…

This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…

The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…

This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…

The paradigm shift in the electric power grid necessitates a revisit of existing control methods to ensure the grid's security and resilience. In particular, the increased uncertainties and rapidly changing operational conditions in power…

This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…

We present a new method for the automated synthesis of digital controllers with formal safety guarantees for systems with nonlinear dynamics, noisy output measurements, and stochastic disturbances. Our method derives digital controllers…

State entropy regularization has empirically shown better exploration and sample complexity in reinforcement learning (RL). However, its theoretical guarantees have not been studied. In this paper, we show that state entropy regularization…

Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…

Imitation learning (IL) is a learning paradigm which can be used to synthesize controllers for complex systems that mimic behavior demonstrated by an expert (user or control algorithm). Despite their popularity, IL methods generally lack…

While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…

We present a method for formal safety verification of learning-based generative motion planners. Generative motion planners (GMPs) offer advantages over traditional planners, but verifying the safety and dynamic feasibility of their outputs…

This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…

Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction (SSR) -- but this is computationally expensive, hindering…