相关论文: Safety Filters for Black-Box Dynamical Systems by …

Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…

As autonomous robots move into complex, dynamic real-world environments, they must learn to navigate safely in real time, yet anticipating all possible behaviors is infeasible. We propose a composable, model-free reinforcement learning…

In many Deep Reinforcement Learning (RL) problems, decisions in a trained policy vary in significance for the expected safety and performance of the policy. Since RL policies are very complex, testing efforts should concentrate on states in…

While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…

The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…

Nowadays, supervised deep learning techniques yield the best state-of-the-art prediction performances for a wide variety of computer vision tasks. However, such supervised techniques generally require a large amount of manually labeled…

Groundbreaking successes have been achieved by Deep Reinforcement Learning (DRL) in solving practical decision-making problems. Robotics, in particular, can involve high-cost hardware and human interactions. Hence, scrupulous evaluations of…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

Reinforcement learning (RL) is a promising optimal control technique for multi-energy management systems. It does not require a model a priori - reducing the upfront and ongoing project-specific engineering effort and is capable of learning…

Industrial control applications require high performance under strict constraints. Control barrier functions (CBFs) provide principled safety mechanisms, but constructing CBF-based safety filters for large-scale systems is challenging. We…

The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…

Safety is one of the main challenges in applying reinforcement learning to realistic environmental tasks. To ensure safety during and after training process, existing methods tend to adopt overly conservative policy to avoid unsafe…

Inferring behavior model of a running software system is quite useful for several automated software engineering tasks, such as program comprehension, anomaly detection, and testing. Most existing dynamic model inference techniques are…

The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…

End-to-end vision-based autonomous driving has achieved impressive success, but safety remains a major concern. The safe control problem has been addressed in low-dimensional settings using safety filters, e.g., those based on control…

A typical scenario-based evaluation framework seeks to characterize a black-box system's safety performance (e.g., failure rate) through repeatedly sampling initialization configurations (scenario sampling) and executing a certain test…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…