相关论文: DR-PETS: Learning-Based Control With Planning in A…

Distributionally robust optimization (DRO) incorporates robustness against uncertainty in the specification of probabilistic models. This paper focuses on mitigating the curse of dimensionality in data-driven DRO problems with optimal…

Ensuring safety under unknown and stochastic dynamics remains a significant challenge in reinforcement learning (RL). In this paper, we propose a model predictive control (MPC)-based safe RL framework, called Probabilistic Ensembles with…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

Parameter-efficient tuning (PET) techniques calibrate the model's predictions on downstream tasks by freezing the pre-trained models and introducing a small number of learnable parameters. However, despite the numerous PET methods proposed,…

Although adversarial examples and model robustness have been extensively studied in the context of linear models and neural networks, research on this issue in tree-based models and how to make tree-based models robust against adversarial…

Machine learning-based forecasting models are commonly used in Intelligent Transportation Systems (ITS) to predict traffic patterns and provide city-wide services. However, most of the existing models are susceptible to adversarial attacks,…

While the idea of robust dynamic programming (DP) is compelling for systems affected by uncertainty, addressing worst-case disturbances generally results in excessive conservatism. This paper introduces a method for constructing control…

With the increasing amount of available data and advances in computing capabilities, deep neural networks (DNNs) have been successfully employed to solve challenging tasks in various areas, including healthcare, climate, and finance.…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…

Safety is a critical concern in motion planning for autonomous vehicles. Modern autonomous vehicles rely on neural network-based perception, but making control decisions based on these inference results poses significant safety risks due to…

While existing work in robust deep learning has focused on small pixel-level norm-based perturbations, this may not account for perturbations encountered in several real-world settings. In many such cases although test data might not be…

A necessary characteristic for the deployment of deep learning models in real world applications is resistance to small adversarial perturbations while maintaining accuracy on non-malicious inputs. While robust training provides models that…

Classical deterministic optimal control problems assume full information about the controlled process. The theory of control for general partially-observable processes is powerful, but the methods are computationally expensive and typically…

Adversarial attacks pose a significant threat to the reliability of pre-trained language models (PLMs) such as GPT, BERT, RoBERTa, and T5. This paper presents Adversarial Robustness through Dynamic Ensemble Learning (ARDEL), a novel scheme…

Deep learning (DL) has demonstrated significant potential across various safety-critical applications, yet ensuring its robustness remains a key challenge. While adversarial robustness has been extensively studied in worst-case scenarios,…

This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…

We propose a distributionally robust approach to learning hyperparameters for first-order methods in convex optimization. Given a dataset of problem instances, we minimize a Wasserstein distributionally robust version of the performance…

Deep Neural Networks, despite their great success in diverse domains, are provably sensitive to small perturbations on correctly classified examples and lead to erroneous predictions. Recently, it was proposed that this behavior can be…

Neural networks are vulnerable to adversarial examples and researchers have proposed many heuristic attack and defense mechanisms. We address this problem through the principled lens of distributionally robust optimization, which guarantees…