相关论文: Learning-based Inverse Perception Contracts and Ap…

Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse perception contract (IPC) provides such a connection by…

Perception contracts provide a method for evaluating safety of control systems that use machine learning for perception. A perception contract is a specification for testing the ML components, and it gives a method for proving end-to-end…

Existing model-based reinforcement learning methods often study perception modeling and decision making separately. We introduce joint Perception and Control as Inference (PCI), a general framework to combine perception and control for…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

In this work, we present a method for obtaining an implicit objective function for vision-based navigation. The proposed methodology relies on Imitation Learning, Model Predictive Control (MPC), and an interpretation technique used in Deep…

Robots deployed in the real world over extended periods of time need to reason about unexpected failures, learn to predict them, and to proactively take actions to avoid future failures. Existing approaches for competence-aware planning are…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

Cognitive Radars (CRs) employ perception-action cycle to adapt their sensing and transmission strategies based on its' perception of the target kinematic states and mission objectives. This paper considers an inverse learning Electronic…

A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…

When we rely on deep-learned models for robotic perception, we must recognize that these models may behave unreliably on inputs dissimilar from the training data, compromising the closed-loop system's safety. This raises fundamental…

This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes…

The focus of this paper is behavior modeling for pilots of unmanned aerial vehicles. The pilot is assumed to make decisions that optimize an unknown cost functional, which is estimated from observed trajectories using a novel inverse…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…

Autonomous systems use extensively learning-enabled components such as deep neural networks (DNNs) for prediction and decision making. In this paper, we utilize a feedback loop between learning-enabled components used for classification and…

This paper proposes a data-driven, iterative approach for inverse optimal control (IOC), which aims to learn the objective function of a nonlinear optimal control system given its states and inputs. The approach solves the IOC problem in a…

We propose a control design method for linear time-invariant systems that iteratively learns to satisfy unknown polyhedral state constraints. At each iteration of a repetitive task, the method constructs an estimate of the unknown…

Various spacecraft have sensors that repeatedly perform a prescribed scanning maneuver, and one may want high precision. Iterative Learning Control (ILC) records previous run tracking error, adjusts the next run command, aiming for zero…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…