相关论文: POLAR-Express: Efficient and Precise Formal Reacha…

We consider the design of fast and reliable neural network (NN)-based approximations of traditional stabilizing controllers for linear systems with polytopic uncertainty, including control laws with variable structure and those based on a…

Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This is because it remains an open challenge to train a neural…

In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a…

Accurate polarimetric calibration of the radio pulse profiles from pulsars is crucial for studying their radiation properties at these wavelengths. Inaccurate calibration can also distort recorded pulse profiles, introducing noise in time…

Several methods have been proposed recently to learn neural network (NN) controllers for autonomous agents, with unknown and stochastic dynamics, tasked with complex missions captured by Linear Temporal Logic (LTL). Due to the…

Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks due to their ability to reason about long-term, cumulative reward using trial and error. However, during RL training, applying…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

Evidential clustering is an approach to clustering based on the use of Dempster-Shafer mass functions to represent cluster-membership uncertainty. In this paper, we introduce a neural-network based evidential clustering algorithm, called…

Signal Temporal Logic (STL) has become a popular tool for expressing formal requirements of Cyber-Physical Systems (CPS). The problem of verifying STL properties of neural network-controlled CPS remains a largely unexplored problem. In this…

The literature on reachability analysis methods for neural networks currently only focuses on uncertainties on the network's inputs. In this paper, we introduce two new approaches for the reachability analysis of neural networks with…

Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation, due to their ability to model non-smooth phenomena (e.g.,…

We study the reachability problem for systems implemented as feed-forward neural networks whose activation function is implemented via ReLU functions. We draw a correspondence between establishing whether some arbitrary output can ever be…

The robustness of neural network classifiers is important in the safety-critical domain and can be quantified by robustness verification. At present, efficient and scalable verification techniques are always sound but incomplete, and thus,…

Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…

An important feature of successful supervised machine learning applications is to be able to explain the predictions given by the regression or classification model being used. However, most state-of-the-art models that have good predictive…

In this paper, we consider the computational complexity of bounding the reachable set of a Linear Time-Invariant (LTI) system controlled by a Rectified Linear Unit (ReLU) Two-Level Lattice (TLL) Neural Network (NN) controller. In…

Radiative transfer calculations in weather and climate models are notoriously complex and computationally intensive, which poses significant challenges. Traditional methods, while accurate, can be prohibitively slow, necessitating the…

Data-driven, neural network (NN) based anomaly detection and predictive maintenance are emerging research areas. NN-based analytics of time-series data offer valuable insights into past behaviors and estimates of critical parameters like…

Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…

This paper poses a theoretical characterization of the stochastic reachability problem in terms of probability measures, capturing the probability measure of the state of the system that satisfies the reachability specification for all…