相关论文: Policy Verification in Stochastic Dynamical System…

This work establishes a crucial step toward advancing data-driven trajectory-based methods for stochastic systems with unknown mathematical dynamics. In contrast to scenario-based approaches that rely on independent and identically…

We provide certificates for almost sure reachability of continuous-time stochastic systems governed by stochastic differential equations (SDEs). We first show that a standard Euler-Maruyama discretization may fail to preserve almost sure…

Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…

We present randomized algorithms for estimating the log-determinant of regularized symmetric positive semi-definite matrices. The algorithms access the matrix only through matrix vector products, and are based on the introduction of a…

The Lipschitz constant is a key measure for certifying the robustness of neural networks to input perturbations. However, computing the exact constant is NP-hard, and standard approaches to estimate the Lipschitz constant involve solving a…

Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control laws that enable an agent to reach a goal while satisfying…

Due to their expressive power, neural networks (NNs) are promising templates for functional optimization problems, particularly for reach-avoid certificate generation for systems governed by stochastic differential equations (SDEs).…

Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for nonlinear systems. However, it becomes computationally intractable in high-dimensional settings, motivating learning-based approximations that may introduce unsafe…

Most real world applications require dealing with stochasticity like sensor noise or predictive uncertainty, where formal specifications of desired behavior are inherently probabilistic. Despite the promise of formal verification in…

We consider the challenge of policy simplification and verification in the context of policies learned through reinforcement learning (RL) in continuous environments. In well-behaved settings, RL algorithms have convergence guarantees in…

The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…

Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…

Despite recent success, state-of-the-art learning-based models remain highly vulnerable to input changes such as adversarial examples. In order to obtain certifiable robustness against such perturbations, recent work considers…

Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…

Reinforcement learning (RL) methods have demonstrated their efficiency in simulation environments. However, many applications for which RL offers great potential, such as autonomous driving, are also safety critical and require a certified…

In this paper we measured the stability of stochastic gradient method (SGM) for learning an approximated Fourier primal support vector machine. The stability of an algorithm is considered by measuring the generalization error in terms of…

Sequential decision making using Markov Decision Process underpins many realworld applications. Both model-based and model free methods have achieved strong results in these settings. However, real-world tasks must balance reward…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…

In the last decade, the Winograd Schema Challenge (WSC) has become a central aspect of the research community as a novel litmus test. Consequently, the WSC has spurred research interest because it can be seen as the means to understand…

Methods to certify the robustness of neural networks in the presence of input uncertainty are vital in safety-critical settings. Most certification methods in the literature are designed for adversarial input uncertainty, but researchers…