相关论文: FI-ODE: Certifiably Robust Forward Invariance in N…

Robustness of neural networks has recently attracted a great amount of interest. The many investigations in this area lack a precise common foundation of robustness concepts. Therefore, in this paper, we propose a rigorous and flexible…

In learning problems, the noise inherent to the task at hand hinders the possibility to infer without a certain degree of uncertainty. Quantifying this uncertainty, regardless of its wide use, assumes high relevance for security-sensitive…

We provide out-of-sample certificates on the controlled invariance property of a given set with respect to a class of black-box linear systems. Specifically, we consider linear time-invariant models whose state space matrices are known only…

In the last a few decades, deep neural networks have achieved remarkable success in machine learning, computer vision, and pattern recognition. Recent studies however show that neural networks (both shallow and deep) may be easily fooled by…

Robustness certification, which aims to formally certify the predictions of neural networks against adversarial inputs, has become an integral part of important tool for safety-critical applications. Despite considerable progress, existing…

Recently, adversarial deception becomes one of the most considerable threats to deep neural networks. However, compared to extensive research in new designs of various adversarial attacks and defenses, the neural networks' intrinsic…

Formal verification provides critical security assurances for neural networks, yet its practical application suffers from the long verification time. This work introduces a novel method for training verification-friendly neural networks,…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…

Iterative learning control (ILC) is a control strategy for repetitive tasks wherein information from previous runs is leveraged to improve future performance. Optimization-based ILC (OB-ILC) is a powerful design framework for constrained…

Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…

Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such as impedance control and stability guarantees. Recently, the…

Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or…

Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…

Increasingly sophisticated mathematical modelling processes from Machine Learning are being used to analyse complex data. However, the performance and explainability of these models within practical critical systems requires a rigorous and…

Inverse problems exist in a wide variety of physical domains from aerospace engineering to medical imaging. The goal is to infer the underlying state from a set of observations. When the forward model that produced the observations is…

Adversarial robustness is essential for security and reliability of machine learning systems. However, adversarial robustness enhanced by defense algorithms is easily erased as the neural network's weights update to learn new tasks. To…

A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…

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…

Fairness in machine learning is more important than ever as ethical concerns continue to grow. Individual fairness demands that individuals differing only in sensitive attributes receive the same outcomes. However, commonly used machine…