相关论文: Verification of Neural Network Control Systems usi…

Symbolic models have recently spurred the interest of the research community because they offer a correct-by-design approach to the control of embedded and cyber-physical systems. In this paper we address construction of symbolic models for…

Deep neural networks have emerged as the workhorse for a large section of robotics and control applications, especially as models for dynamical systems. Such data-driven models are in turn used for designing and verifying autonomous…

The success of Deep Learning and its potential use in many safety-critical applications has motivated research on formal verification of Neural Network (NN) models. Despite the reputation of learned NN models to behave as black boxes and…

Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…

One major drawback of deep convolutional neural networks (CNNs) for use in safety critical applications is their black-box nature. This makes it hard to verify or monitor complex, symbolic requirements on already trained computer vision…

Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…

Understanding a neural code requires knowledge both of the elementary symbols that transmit information and of the algorithm for translating these symbols into sensory signals or motor actions. We show that these questions can be separated:…

We introduce a versatile framework to model and study networked control systems (NCSs). An NCS is described as a feedback interconnection of a plant and a controller communicating through a bidirectional channel modelled by cascaded…

This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a construct called a state-update set, functional decomposition,…

Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinearity and black-box nature challenge control designs that…

Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance. The paper is focused on reducing the numerical complexity associated with the tube…

This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS)…

Symbolic regression is a type of discrete optimization problem that involves searching expressions that fit given data points. In many cases, other mathematical constraints about the unknown expression not only provide more information…

Motivated by the fragility of neural network (NN) controllers in safety-critical applications, we present a data-driven framework for verifying the risk of stochastic dynamical systems with NN controllers. Given a stochastic control system,…

Neural networks are vulnerable to adversarial attacks, i.e., small input perturbations can significantly affect the outputs of a neural network. Therefore, to ensure safety of neural networks in safety-critical environments, the robustness…

In traditional software programs, it is easy to trace program logic from variables back to input, apply assertion statements to block erroneous behavior, and compose programs together. Although deep learning programs have demonstrated…

Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…

Analysis of large observational data sets generated by a reactive system is a common challenge in debugging system failures and determining their root cause. One of the major problems is that these observational data suffer from…

Autonomous systems with machine learning-based perception can exhibit unpredictable behaviors that are difficult to quantify, let alone verify. Such behaviors are convenient to capture in probabilistic models, but probabilistic model…

We present neuron embeddings, a representation that can be used to tackle polysemanticity by identifying the distinct semantic behaviours in a neuron's characteristic dataset examples, making downstream manual or automatic interpretation…