相关论文: Peaking into the Black-box: Prediction Intervals G…

Deep neural networks are frequently used by autonomous systems for their ability to learn complex, non-linear data patterns and make accurate predictions in dynamic environments. However, their use as black boxes introduces risks as the…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

Understanding model performance on unlabeled data is a fundamental challenge of developing, deploying, and maintaining AI systems. Model performance is typically evaluated using test sets or periodic manual quality assessments, both of…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

Artificial neural networks (ANN) have been shown to be flexible and effective function estimators for identification of nonlinear state-space models. However, if the resulting models are used directly for nonlinear model predictive control…

The integration of Artificial Intelligence (AI) in medical diagnostics is often hindered by model opacity, where high-accuracy systems function as "black boxes" without transparent reasoning. This limitation is critical in clinical…

In recent years, there have been a surge in applications of neural networks (NNs) in physical sciences. Although various algorithmic advances have been proposed, there are, thus far, limited number of studies that assess the…

Physics-informed neural networks (PINNs) are one popular approach to incorporate a priori knowledge about physical systems into the learning framework. PINNs are known to be robust for smaller training sets, derive better generalization…

This study introduces a unified control framework that addresses the challenge of precise quadruped locomotion with unknown payloads, named as online payload identification-based physics-informed neural network predictive control…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

This paper proposes a data-driven approach, by means of an Artificial Neural Network (ANN), to value financial options and to calculate implied volatilities with the aim of accelerating the corresponding numerical methods. With ANNs being…

Autonomous driving (AD) and advanced driver assistance systems (ADAS) increasingly utilize deep neural networks (DNNs) for improved perception or planning. Nevertheless, DNNs are quite brittle when the data distribution during inference…

For modeling the serial dependence in time series of counts, various approaches have been proposed in the literature. In particular, models based on a recursive, autoregressive-type structure such as the well-known integer-valued…

This paper proposes a multi-step probabilistic forecasting framework using a single neural-network based model to generate simultaneous point and interval forecasts. Our approach ensures non-crossing prediction intervals (PIs) through a…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

Artificial neural networks (ANNs) are powerful tools capable of approximating any arbitrary mathematical function, but their interpretability remains limited, rendering them as black box models. To address this issue, numerous methods have…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

A regularized artificial neural network (RANN) is proposed for interval-valued data prediction. The ANN model is selected due to its powerful capability in fitting linear and nonlinear functions. To meet mathematical coherence requirement…

The past few years have seen a rapid development of machine-learning algorithms. While surely augmenting performance, these complex tools are often treated as black-boxes and may impair our understanding of the physical processes under…

In real world scenarios, due to environmental or hardware constraints, the quadrotor is forced to navigate in pure inertial navigation mode while operating indoors or outdoors. To mitigate inertial drift, end-to-end neural network…