相关论文: Safe Robot Learning in Assistive Devices through N…

Guaranteeing safety in human-centric applications is critical in robot learning as the learned policies may demonstrate unsafe behaviors in formerly unseen scenarios. We present a framework to locally repair an erroneous policy network to…

In this paper, we propose a framework to repair a pre-trained feed-forward neural network (NN) to satisfy a set of properties. We formulate the properties as a set of predicates that impose constraints on the output of NN over the target…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Deep Neural Networks (DNNs) have grown in popularity over the past decade and are now being used in safety-critical domains such as aircraft collision avoidance. This has motivated a large number of techniques for finding unsafe behavior in…

We present NNrepair, a constraint-based technique for repairing neural network classifiers. The technique aims to fix the logic of the network at an intermediate layer or at the last layer. NNrepair first uses fault localization to find…

The Neural Network (NN), as a black-box function approximator, has been considered in many control and robotics applications. However, difficulties in verifying the overall system safety in the presence of uncertainties hinder the…

Over the last decade, Neural Networks (NNs) have been widely used in numerous applications including safety-critical ones such as autonomous systems. Despite their emerging adoption, it is well known that NNs are susceptible to Adversarial…

Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision…

Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

In many operational contexts, solutions to NP-hard combinatorial optimization problems, modeled by means of Mixed-Integer Linear Programming (MILP), may become infeasible due to unpredictable disruptions. Typically, reoptimizing by solving…

The increasing use of deep neural networks (DNNs) in safety-critical systems has raised concerns about their potential for exhibiting ill-behaviors. While DNN verification and testing provide post hoc conclusions regarding unexpected…

Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce many collisions in environments where new obstacles appear…

In this paper, the application of imitation learning in caregiving robotics is explored, aiming at addressing the increasing demand for automated assistance in caring for the elderly and disabled. Leveraging advancements in deep learning…

Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

Action selection policies (ASPs), used to compose low-level robot skills into complex high-level tasks are commonly represented as neural networks (NNs) in the state of the art. Such a paradigm, while very effective, suffers from a few key…

In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding…

This work solves suboptimal mixed-integer quadratic programs recursively for feedback control of dynamical systems. The proposed framework leverages parametric mixed-integer quadratic programming (MIQP) and hybrid systems theory to model a…

The adaptive learning capabilities seen in biological neural networks are largely a product of the self-modifying behavior emerging from online plastic changes in synaptic connectivity. Current methods in Reinforcement Learning (RL) only…