相关论文: RADIUM: Predicting and Repairing End-to-End Robot …

Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…

We study the trade-offs between convergence rate and robustness to gradient errors in designing a first-order algorithm. We focus on gradient descent (GD) and accelerated gradient (AG) methods for minimizing strongly convex functions when…

While machine learning systems show high success rate in many complex tasks, research shows they can also fail in very unexpected situations. Rise of machine learning products in safety-critical industries cause an increase in attention in…

The potentials of automotive radar for autonomous driving have not been fully exploited. We present a multi-input multi-output (MIMO) radar transmit and receive signal processing chain, a knowledge-aided approach exploiting the radar domain…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

This paper studies the online optimal control problem with time-varying convex stage costs for a time-invariant linear dynamical system, where a finite lookahead window of accurate predictions of the stage costs are available at each time.…

In this paper, we present a novel derivative-free optimization framework for solving unconstrained stochastic optimization problems. Many problems in fields ranging from simulation optimization to reinforcement learning involve settings…

Goal-conditioned policies, such as those learned via imitation learning, provide an easy way for humans to influence what tasks robots accomplish. However, these robot policies are not guaranteed to execute safely or to succeed when faced…

Simulation of surveys using LLMs is emerging as a powerful application for generating human-like responses at scale. Prior work evaluates survey simulation using metrics borrowed from other domains, which are often ad hoc, fragmented, and…

The basis generation in reduced order modeling usually requires multiple high-fidelity large-scale simulations that could take a huge computational cost. In order to accelerate these numerical simulations, we introduce a FOM/ROM hybrid…

The ground truth for cascading failure in power system can only be obtained through a detailed dynamic model involving nonlinear differential and algebraic equations whose solution process is computationally expensive. This has prohibited…

We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value,…

In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…

To accurately reproduce measurements from the real world, simulators need to have an adequate model of the physical system and require the parameters of the model be identified. We address the latter problem of estimating parameters through…

In this paper, we consider continuous-time stochastic optimal control problems where the cost is evaluated through a coherent risk measure. We provide an explicit gradient descent-ascent algorithm which applies to problems subject to…

Thorough testing of safety-critical autonomous systems, such as self-driving cars, autonomous robots, and drones, is essential for detecting potential failures before deployment. One crucial testing stage is model-in-the-loop testing, where…

Learning-based robotic systems demand rigorous validation to assure reliable performance, but extensive real-world testing is often prohibitively expensive, and if conducted may still yield insufficient data for high-confidence guarantees.…

Optimization models used to make discrete decisions often contain uncertain parameters that are context-dependent and estimated through prediction. To account for the quality of the decision made based on the prediction, decision-focused…

Existing imitation learning methods for end-to-end autonomous driving predominantly learn from successful demonstrations by minimizing geometric deviations from expert trajectories. This paradigm implicitly assumes that spatial proximity…

Testing autonomous robotic systems, such as self-driving cars and unmanned aerial vehicles, is challenging due to their interaction with highly unpredictable environments. A common practice is to first conduct simulation-based testing,…