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

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…

Safe reinforcement learning (RL) focuses on training reward-maximizing agents subject to pre-defined safety constraints. Yet, learning versatile safe policies that can adapt to varying safety constraint requirements during deployment…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

Safety guarantees are a prerequisite to the deployment of reinforcement learning (RL) agents in safety-critical tasks. Often, deployment environments exhibit non-stationary dynamics or are subject to changing performance goals, requiring…

Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency…

Recent reinforcement learning (RL) algorithms have demonstrated impressive results in simulated driving environments. However, autonomous vehicles trained in simulation often struggle to work well in the real world due to the fidelity gap…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Autonomous vehicles increasingly rely on cameras to provide the input for perception and scene understanding and the ability of these models to classify their environment and objects, under adverse conditions and image noise is crucial.…

Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…

Physics-informed neural networks and neural operators often suffer from severe optimization difficulties caused by ill-conditioned gradients, multi-scale spectral behavior, and stiffness induced by physical constraints. Recently, the Muon…

In this paper, we present a Symbolic Reinforcement Learning (SRL) based architecture for safety control of Radio Access Network (RAN) applications. In particular, we provide a purely automated procedure in which a user can specify…

Sim-to-real transfer of locomotion policies often leads to performance degradation due to the inevitable sim-to-real gap. Naively fine-tuning these policies directly on hardware is problematic, as it poses risks of mechanical failure and…

Autonomous Vehicle has been transforming intelligent transportation systems. As telecommunication technology improves, autonomous vehicles are getting connected to each other and to infrastructures, forming Connected and Autonomous Vehicles…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Reach-Avoid-Stay (RAS) optimal control enables systems such as robots and air taxis to reach their targets, avoid obstacles, and stay near the target. However, current methods for RAS often struggle with handling complex, dynamic…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

Autonomous vehicles (AVs) face significant threats to their safe operation in complex traffic environments. Adversarial training has emerged as an effective method of enabling AVs to preemptively fortify their robustness against malicious…

The interest in autonomous vehicles (AVs) for critical missions, including transportation, rescue, surveillance, reconnaissance, and mapping, is growing rapidly due to their significant safety and mobility benefits. AVs consist of complex…

Autonomous driving technology has drawn a lot of attention due to its fast development and extremely high commercial values. The recent technological leap of autonomous driving can be primarily attributed to the progress in the environment…

The increasing prevalence of software vulnerabilities necessitates automated vulnerability repair (AVR) techniques. This Systematization of Knowledge (SoK) provides a comprehensive overview of the AVR landscape, encompassing both synthetic…