相关论文: Proactive Routing to Interpretable Surrogates with…

Machine learning models play a vital role in time series forecasting. These models, however, often overlook an important element: point uncertainty estimates. Incorporating these estimates is crucial for effective risk management, informed…

We propose a model-agnostic approach for mitigating the prediction bias of a black-box decision-maker, and in particular, a human decision-maker. Our method detects in the feature space where the black-box decision-maker is biased and…

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…

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…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Reduced-order models, also known as proxy model or surrogate model, are approximate models that are less computational expensive as opposed to fully descriptive models. With the integration of machine learning, these models have garnered…

Large Language Model (LLM) agents increasingly operate across domains such as robotics, virtual assistants, and web automation. However, their stochastic decision-making introduces safety risks that are difficult to anticipate during…

Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed a model of the disturbance in the…

Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a…

Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…

Large Language Models (LLMs) present a critical trade-off between inference quality and computational cost: larger models offer superior capabilities but incur significant latency, while smaller models are faster but less powerful. Existing…

Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled…

This paper presents a novel methodology for tractably solving optimal control and offline reinforcement learning problems for high-dimensional systems. This work is motivated by the ongoing challenges of safety, computation, and optimality…

This work demonstrates a proof-of-principle for using uncertainty-aware architectures, in combination with active learning techniques and an in-the-loop physics simulation code as a data labeller, to construct efficient datasets for…

We propose a microscopic decision model for route choice based on discrete choice theory. The correlation of overlapping routes is included in the random portions of the utility explicitly. For computational efficiency, we restrict the…

We establish a collection of closed-loop guarantees and propose a scalable optimization algorithm for distributionally robust model predictive control (DRMPC) applied to linear systems, convex constraints, and quadratic costs. Via standard…

Multi-fidelity methods leverage low-cost surrogate models to speed up computations and make occasional recourse to expensive high-fidelity models to establish accuracy guarantees. Because surrogate and high-fidelity models are used…

Autonomous robots that rely on deep neural network controllers pose critical challenges for safety prediction, especially under partial observability and distribution shift. Traditional model-based verification techniques are limited in…

Large language models often display heterogeneous moral preferences across settings. We study inference-time steering toward a desired ethical framework while preserving general competence. We present Convergent-Divergent Routing, which…

Reasoning-capable large language models (LLMs) have recently been adopted as automated judges, but their benefits and costs in LLM-as-a-Judge settings remain unclear. Through controlled comparisons between reasoning and non-reasoning…