相关论文: Towards Unified Probabilistic Verification and Val…

In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…

With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control development. Similarly, the authors believe risk should also be…

Estimating the distribution over failures is a key step in validating autonomous systems. Existing approaches focus on finding failures for a small range of initial conditions or make restrictive assumptions about the properties of the…

Embodied AI systems, comprising AI models and physical plants, are increasingly prevalent across various applications. Due to the rarity of system failures, ensuring their safety in complex operating environments remains a major challenge,…

Despite the tremendous advances that have been made in the last decade on developing useful machine-learning applications, their wider adoption has been hindered by the lack of strong assurance guarantees that can be made about their…

In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varying nonlinear safety constraints. Risk is defined as the…

The engineering community currently encounters significant challenges in the systematic development and validation of autonomy algorithms for off-road ground vehicles. These challenges are posed by unusually high test parameters and…

AI Safety is a major concern in many deep learning applications such as autonomous driving. Given a trained deep learning model, an important natural problem is how to reliably verify the model's prediction. In this paper, we propose a…

With the increasing ubiquity of safety-critical autonomous systems operating in uncertain environments, there is a need for mathematical methods for formal verification of stochastic models. Towards formally verifying properties of…

Can we conclude the stability of an unknown dynamical system from the knowledge of a finite number of snapshots of trajectories? We tackle this black-box problem for switched linear systems. We show that, for any given random set of…

Autonomous Driving Systems (ADS) use complex decision-making (DM) models with multimodal sensory inputs, making rigorous validation and verification (V&V) essential for safety and reliability. These models pose challenges in diagnosing…

This article introduces a fully automated verification technique that permits to analyze real-time systems described using a continuous notion of time and a mixture of operational (i.e., automata-based) and descriptive (i.e., logic-based)…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…

We are motivated by the problem of performing failure prediction for safety-critical robotic systems with high-dimensional sensor observations (e.g., vision). Given access to a black-box control policy (e.g., in the form of a neural…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the…

Partially observable Markov decision processes (POMDPs) are a principled planning model for sequential decision-making under uncertainty. Yet, real-world problems with high-dimensional observations, such as camera images, remain intractable…

Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…

The viability of automated driving is heavily dependent on the performance of perception systems to provide real-time accurate and reliable information for robust decision-making and maneuvers. These systems must perform reliably not only…

Despite achieving excellent performance on benchmarks, deep neural networks often underperform in real-world deployment due to sensitivity to minor, often imperceptible shifts in input data, known as distributional shifts. These shifts are…