相关论文: Learning to Navigate Under Imperfect Perception: C…

The effective design of patrol strategies is a difficult and complex problem, especially in medium and large areas. The objective is to plan, in a coordinated manner, the optimal routes for a set of patrols in a given area, in order to…

The future success of the Navy will depend, in part, on artificial intelligence. In practice, many artificially intelligent algorithms, and in particular deep learning models, rely on continual learning to maintain performance in dynamic…

Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot…

Safe learning is essential for deploying learningbased controllers in safety-critical robotic systems, yet existing approaches often enforce multiple safety constraints uniformly or via fixed priority orders, leading to infeasibility and…

This paper presents a conformal prediction method for classification in highly imbalanced and open-set settings, where there are many possible classes and not all may be represented in the data. Existing approaches require a finite, known…

Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…

Safety assurance is uncompromisable for safety-critical environments with the presence of drastic model uncertainties (e.g., distributional shift), especially with humans in the loop. However, incorporating uncertainty in safe learning will…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

Ensuring the safety of reinforcement learning (RL) policies in high-stakes environments requires not only formal verification but also interpretability and targeted falsification. While model checking provides formal guarantees, its…

Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability.…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

Large Language Models (LLMs) show growing promise in autonomous driving by reasoning over complex traffic scenarios to generate path plans. However, their tendencies toward overconfidence, and hallucinations raise critical safety concerns.…

Conformal Prediction (CP) is a principled framework for quantifying uncertainty in blackbox learning models, by constructing prediction sets with finite-sample coverage guarantees. Traditional approaches rely on scalar nonconformity scores,…

The rapid increase in remote sensing satellites has led to the emergence of distributed space-based observation systems. However, existing distributed remote sensing models often rely on centralized training, resulting in data leakage,…

Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guarantees, they often assume known extrinsic safety…

As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…

Conformal Prediction (CP) is a powerful statistical machine learning tool to construct uncertainty sets with coverage guarantees, which has fueled its extensive adoption in generating prediction regions for decision-making tasks, e.g.,…

Data-driven approaches to predict-then-optimize decision-making problems seek to mitigate the risk of uncertainty region misspecification in safety-critical settings. Current approaches, however, suffer from considering overly conservative…

Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…

Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial…