相关论文: SpecGuard: Specification Aware Recovery for Roboti…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…

Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

Due to the increasing sophistication of web attacks, Web Application Firewalls (WAFs) have to be tested and updated regularly to resist the relentless flow of web attacks. In practice, using a brute-force attack to discover vulnerabilities…

New speculation-based attacks that affect large numbers of modern systems are disclosed regularly. Currently, CPU vendors regularly fall back to heavy-handed mitigations like using barriers or enforcing strict programming guidelines…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Due to the trial-and-error nature, it is typically challenging to apply RL algorithms to safety-critical real-world applications, such as autonomous driving, human-robot interaction, robot manipulation, etc, where such errors are not…

Gas leaks and arc discharges present significant risks in industrial environments, requiring robust detection systems to ensure safety and operational efficiency. Inspired by human protocols that combine visual identification with acoustic…

Deep Reinforcement Learning (RL) has shown promise in addressing complex robotic challenges. In real-world applications, RL is often accompanied by failsafe controllers as a last resort to avoid catastrophic events. While necessary for…

Autonomous Surface Vehicles (ASVs) play a crucial role in maritime operations, yet their navigation in shallow-water environments remains challenging due to dynamic disturbances and depth constraints. Traditional navigation strategies…

Commonly used metrics for evaluation of object detection systems (precision, recall, mAP) do not give complete information about their suitability of use in safety critical tasks, like obstacle detection for collision avoidance in…

Increasing communication and self-driving capabilities for road vehicles lead to threats imposed by attackers. Especially attacks leading to safety violations have to be identified to address them by appropriate measures. The impact of an…

In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…

State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly…

Deep reinforcement learning (RL) has brought many successes for autonomous robot navigation. However, there still exists important limitations that prevent real-world use of RL-based navigation systems. For example, most learning approaches…

Emerging applications in robotics and autonomous systems, such as autonomous driving and robotic surgery, often involve critical safety constraints that must be satisfied even when information about system models is limited. In this regard,…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…

Autonomous Vehicles (AVs) are complex systems that drive in uncertain environments and potentially navigate unforeseeable situations. Safety of these systems requires not only an absence of malfunctions but also high performance of…

The vehicular Metaverse represents an emerging paradigm that merges vehicular communications with virtual environments, integrating real-world data to enhance in-vehicle services. However, this integration faces critical security…