相关论文: Evaluation of autonomous systems under data distri…

Learning from previously collected datasets of expert data offers the promise of acquiring robotic policies without unsafe and costly online explorations. However, a major challenge is a distributional shift between the states in the…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

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…

As predictive models are increasingly being deployed to make a variety of consequential decisions, there is a growing emphasis on designing algorithms that can provide recourse to affected individuals. Existing recourse algorithms function…

Generative models have shown strong potential as data-driven priors for solving inverse problems such as reconstructing medical images from undersampled measurements. While these priors improve reconstruction quality with fewer…

We introduce a fine-grained framework for uncertainty quantification of predictive models under distributional shifts. This framework distinguishes the shift in covariate distributions from that in the conditional relationship between the…

A common challenge across all areas of machine learning is that training data is not distributed like test data, due to natural shifts, "blind spots," or adversarial examples; such test examples are referred to as out-of-distribution (OOD)…

As the use of autonomous robots expands in tasks that are complex and challenging to model, the demand for robust data-driven control methods that can certify safety and stability in uncertain conditions is increasing. However, the…

Objective: We examine how human operators adjust their trust in automation as a result of their moment-to-moment interaction with automation. Background: Most existing studies measured trust by administering questionnaires at the end of an…

This paper focuses on learning a model of system dynamics online while satisfying safety constraints.Our motivation is to avoid offline system identification or hand-specified dynamics models and allowa system to safely and autonomously…

Neural Networks are being integrated into safety critical systems, e.g., perception systems for autonomous vehicles, which require trained networks to perform safely in novel scenarios. It is challenging to verify neural networks because…

The ability to perform computation on devices, such as smartphones, cars, or other nodes present at the Internet of Things leads to constraints regarding bandwidth, storage, and energy, as most of these devices are mobile and operate on…

When nodes can repeatedly update their behavior (as in agent-based models from computational social science or repeated-game play settings) the problem of optimal network seeding becomes very complex. For a popular spreading-phenomena model…

This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…

Uncertainty-aware machine learners, such as Bayesian neural networks, output a quantification of uncertainty instead of a point prediction. We provide uncertainty-aware learners with a principled framework to characterize, and identify ways…

As input data distributions evolve, the predictive performance of machine learning models tends to deteriorate. In the past, predictive performance was considered the key indicator to monitor. However, explanation aspects have come to…

Applications from finance to epidemiology and cyber-security require accurate forecasts of dynamic phenomena, which are often only partially observed. We demonstrate that a system's predictability degrades as a function of temporal…

Cyber-physical systems (CPS) greatly benefit by using machine learning components that can handle the uncertainty and variability of the real-world. Typical components such as deep neural networks, however, introduce new types of hazards…

In this work, we assess the theoretical limitations of determining guaranteed stability and accuracy of neural networks in classification tasks. We consider classical distribution-agnostic framework and algorithms minimising empirical risks…

In many large-scale machine learning applications, data are accumulated with time, and thus, an appropriate model should be able to update in an online paradigm. Moreover, as the whole data volume is unknown when constructing the model, it…