相关论文: Gated Uncertainty-Aware Runtime Dual Invariants fo…

Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is especially problematic for systems that rely on neural network…

The emergence of large language models (LLMs) enables the development of intelligent agents capable of engaging in complex and multi-turn dialogues. However, multi-agent collaboration faces critical safety challenges, such as hallucination…

This paper presents the framework \textbf{GUARD} (\textbf{G}uided robot control via \textbf{U}ncertainty attribution and prob\textbf{A}bilistic kernel optimization for \textbf{R}isk-aware \textbf{D}ecision making) that combines traditional…

With the widespread application of large language models in code generation, recent studies demonstrate that employing additional Chain-of-Thought generation models can significantly enhance code generation performance by providing explicit…

In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…

Neural networks are often used to process information from image-based sensors to produce control actions. While they are effective for this task, the complex nature of neural networks makes their output difficult to verify and predict,…

As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap, which comes from nonlinear model bias and susceptibility…

Verifying safety of neural network control systems that use images as input is a difficult problem because, from a given system state, there is no known way to mathematically model what images are possible in the real-world. We build on…

As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…

Since neural networks can make wrong predictions even with high confidence, monitoring their behavior at runtime is important, especially in safety-critical domains like autonomous driving. In this paper, we combine ideas from previous…

Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global User Intent Dual-phase Estimation for Robots), a probabilistic…

This paper introduces Truth-Aware Decoding (TAD), a verification-oriented decoding scheme that aligns neural language generation with knowledge bases. Situated in the tradition of probabilistic program semantics for sequence models, TAD…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

Non-invasive brain-computer interfaces that decode spoken commands from electroencephalogram must be both accurate and trustworthy. We present a confidence-aware decoding framework that couples deep ensembles of compact, speech-oriented…

Accurate yet interpretable image-based diagnosis remains a central challenge in medical AI, particularly in settings characterized by limited data, subtle visual cues, and high-stakes clinical decision-making. Most existing vision models…

Artificial intelligence has the potential to impact safety and efficiency in safety-critical domains such as construction, manufacturing, and healthcare. For example, using sensor data from wearable devices, such as inertial measurement…

Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenience of use. However, UGV requires extensive and efficient…

Accurate decoding of lower-limb motion from EEG signals is essential for advancing brain-computer interface (BCI) applications in movement intent recognition and control. This study presents NeuroDyGait, a two-stage, phase-aware EEG-to-gait…

The realization of fault-tolerant quantum computation hinges on the ability to execute deep quantum circuits while maintaining gate fidelities consistently above error-correction thresholds. Although neutral-atom arrays have recently…