相关论文: Learning Safe Numeric Planning Action Models

Models used in modern planning problems to simulate outcomes of real world action executions are becoming increasingly complex, ranging from simulators that do physics-based reasoning to precomputed analytical motion primitives. However,…

Developing mechanisms that flexibly adapt dialog systems to unseen tasks and domains is a major challenge in dialog research. Neural models implicitly memorize task-specific dialog policies from the training data. We posit that this…

Segment Anything Model (SAM), known for its remarkable zero-shot segmentation capabilities, has garnered significant attention in the community. Nevertheless, its performance is challenged when dealing with what we refer to as visually…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

Safety is one of the key issues preventing the deployment of reinforcement learning techniques in real-world robots. While most approaches in the Safe Reinforcement Learning area do not require prior knowledge of constraints and robot…

Motion planning for autonomous driving must handle multiple plausible futures while remaining computationally efficient. Recent end-to-end systems and world-model-based planners predict rich multi-modal trajectories, but typically rely on…

Safety is one of the biggest concerns to applying reinforcement learning (RL) to the physical world. In its core part, it is challenging to ensure RL agents persistently satisfy a hard state constraint without white-box or black-box…

Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…

Probabilistic security assessment and real-time dynamic security assessments (DSA) are promising to better handle the risks of system operations. The current methodologies of security assessments may require many time-domain simulations for…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Resilience engineering studies the ability of a system to survive and recover from disruptive events, which finds applications in several domains. Most studies emphasize resilience metrics to quantify system performance, whereas recent…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range minima, and ordered set union, intersection and difference.…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…

Neural Networks (NNs) have been successfully employed to represent the state evolution of complex dynamical systems. Such models, referred to as NN dynamic models (NNDMs), use iterative noisy predictions of NN to estimate a distribution of…

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of…

This paper studies the problem of action model learning with full observability. Following the learning by search paradigm by Mitchell, we develop a theory for action model learning based on version spaces that interprets the task as search…

In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…

LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…