相关论文: Designing Latent Safety Filters using Pre-Trained …

This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dynamics. To extract the dynamic structure of the model, we use…

Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…

Guaranteeing safety of perception-based learning systems is challenging due to the absence of ground-truth state information unlike in state-aware control scenarios. In this paper, we introduce a safety guaranteed learning framework for…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety violations is important…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…

Vision language models (VLMs) have seen growing adoption in recent years, but many still struggle with basic spatial reasoning errors. We hypothesize that this is due to VLMs adopting pre-trained vision backbones, specifically vision…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents…

In the past few years, the emergence of pre-training models has brought uni-modal fields such as computer vision (CV) and natural language processing (NLP) to a new era. Substantial works have shown they are beneficial for downstream…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

Despite outstanding success in vision amongst other domains, many of the recent deep learning approaches have evident drawbacks for robots. This manuscript surveys recent work in the literature that pertain to applying deep learning systems…

Rapid development of large-scale pre-training has resulted in foundation models that can act as effective feature extractors on a variety of downstream tasks and domains. Motivated by this, we study the efficacy of pre-trained vision models…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Prototypical part network (ProtoPNet) has drawn wide attention and boosted many follow-up studies due to its self-explanatory property for explainable artificial intelligence (XAI). However, when directly applying ProtoPNet on vision…

Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…

With the great success of pre-trained models, the pretrain-then-finetune paradigm has been widely adopted on downstream tasks for source code understanding. However, compared to costly training a large-scale model from scratch, how to…

Accurate uncertainty estimation is vital to trustworthy machine learning, yet uncertainties typically have to be learned for each task anew. This work introduces the first pretrained uncertainty modules for vision models. Similar to…

Various approaches are proposed to help under-resourced security researchers to detect and analyze software vulnerabilities. It is still incredibly time-consuming and labor-intensive for security researchers to fix vulnerabilities. The time…

Animal health monitoring and population management are critical aspects of wildlife conservation and livestock management that increasingly rely on automated detection and tracking systems. While Unmanned Aerial Vehicle (UAV) based systems…