相关论文: Learning Safe Numeric Planning Action Models

Achieving both optimality and safety under unknown system dynamics is a central challenge in real-world deployment of agents. To address this, we introduce a notion of maximum safe dynamics learning, where sufficient exploration is…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

Large Language Models (LLMs) exhibit substantial promise in enhancing task-planning capabilities within embodied agents due to their advanced reasoning and comprehension. However, the systemic safety of these agents remains an underexplored…

Safety is a critical concern for urban flights of autonomous Unmanned Aerial Vehicles. In populated environments, risk should be accounted for to produce an effective and safe path, known as risk-aware path planning. Risk-aware path…

In this paper, we focus on activating only a few sensors, among many available, to estimate the state of a stochastic process of interest. This problem is important in applications such as target tracking and simultaneous localization and…

An intelligent system capable of continual learning is one that can process and extract knowledge from potentially infinitely long streams of pattern vectors. The major challenge that makes crafting such a system difficult is known as…

Path planners that can interpret free-form natural language instructions hold promise to automate a wide range of robotics applications. These planners simplify user interactions and enable intuitive control over complex semi-autonomous…

Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…

A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…

Powered by massive curated training data, Segment Anything Model (SAM) has demonstrated its impressive generalization capabilities in open-world scenarios with the guidance of prompts. However, the vanilla SAM is class agnostic and heavily…

Dense regression is a widely used approach in computer vision for tasks such as image super-resolution, enhancement, depth estimation, etc. However, the high cost of annotation and labeling makes it challenging to achieve accurate results.…

Learning and planning in partially-observable domains is one of the most difficult problems in reinforcement learning. Traditional methods consider these two problems as independent, resulting in a classical two-stage paradigm: first learn…

Autonomous vehicles performing navigation tasks in complex environments face significant challenges due to uncertainty in state estimation. In many scenarios, such as stealth operations or resource-constrained settings, accessing…

The framework of Simulation-to-real learning, i.e, learning policies in simulation and transferring those policies to the real world is one of the most promising approaches towards data-efficient learning in robotics. However, due to the…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

Reinforcement Learning (RL) has shown remarkable success in real-world applications, particularly in robotics control. However, RL adoption remains limited due to insufficient safety guarantees. We introduce Nightmare Dreamer, a model-based…

We study the problem of learning worst-case-safe parameters for programs that use neural networks as well as symbolic, human-written code. Such neurosymbolic programs arise in many safety-critical domains. However, because they can use…