相关论文: Robustness Verification for Knowledge-Based Logic …

Our goal is to build robust optimization problems for making decisions based on complex data from the past. In robust optimization (RO) generally, the goal is to create a policy for decision-making that is robust to our uncertainty about…

Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…

Recent advancements in autonomous vehicles (AVs) use Large Language Models (LLMs) to perform well in normal driving scenarios. However, ensuring safety in dynamic, high-risk environments and managing safety-critical long-tail events remain…

In the dynamic urban landscape, where the interplay of vehicles and pedestrians defines the rhythm of life, integrating advanced technology for safety and efficiency is increasingly crucial. This study delves into the application of…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

Reliable risk identification based on driver behavior data underpins real-time safety feedback, fleet risk management, and evaluation of driver-assist systems. While naturalistic driving studies have become foundational for providing…

This study investigates the predictive capacity of environmental, temporal, and spatial factors on traffic accident severity in the United States. Using a dataset of 500,000 U.S. traffic accidents spanning 2016-2023, we trained an XGBoost…

Autonomous vehicles must balance a complex set of objectives. There is no consensus on how they should do so, nor on a model for specifying a desired driving behavior. We created a dataset to help address some of these questions in a…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

Scene understanding is a vital part of autonomous driving systems, which requires the use of deep learning models. Deep learning methods are intrinsically black box models, which lack transparency and safety in autonomous driving. To make…

Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. However, it is often easy to maliciously manipulate such…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

We consider the problem of steering a system with unknown, stochastic dynamics to satisfy a rich, temporally layered task given as a signal temporal logic formula. We represent the system as a Markov decision process in which the states are…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

In safety-critical deep learning applications, robustness measures the ability of neural models that handle imperceptible perturbations in input data, which may lead to potential safety hazards. Existing pre-deployment robustness assessment…

The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…

Intensive algorithmic efforts have been made to enable the rapid improvements of certificated robustness for complex ML models recently. However, current robustness certification methods are only able to certify under a limited perturbation…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…