相关论文: Proactive Routing to Interpretable Surrogates with…

The performance of machine learning surrogates is critically dependent on data quality and quantity. This presents a major challenge, as high-fidelity (HF) data is often scarce and computationally expensive to acquire, while low-fidelity…

Ensuring safety in industrial control systems usually involves imposing constraints at the design stage of the control algorithm. Enforcing constraints is challenging if the underlying functional form is unknown. The challenge can be…

Highly accurate datasets from numerical or physical experiments are often expensive and time-consuming to acquire, posing a significant challenge for applications that require precise evaluations, potentially across multiple scenarios and…

This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…

Multimodal large language models (MLLMs) have heterogeneous strengths across OCR, chart understanding, spatial reasoning, visual question answering, cost, and latency. Effective MLLM routing therefore requires more than estimating query…

LLMs now tackle a wide range of software-related tasks, yet we show that their performance varies markedly both across and within these tasks. Routing user queries to the appropriate LLMs can therefore help improve response quality while…

Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…

Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high…

Combining efficient and safe control for safety-critical systems is challenging. Robust methods may be overly conservative, whereas probabilistic controllers require a trade-off between efficiency and safety. In this work, we propose a…

Multitask learning is widely used in practice to train a low-resource target task by augmenting it with multiple related source tasks. Yet, naively combining all the source tasks with a target task does not always improve the prediction…

Stochastic Model Predictive Control has proved to be an efficient method to plan trajectories in uncertain environments, e.g., for autonomous vehicles. Chance constraints ensure that the probability of collision is bounded by a predefined…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

Many safety failures in machine learning arise when models are used to assign predictions to people (often in settings like lending, hiring, or content moderation) without accounting for how individuals can change their inputs. In this…

LLMs often achieve similar average benchmark accuracies while exhibiting complementary strengths on different subsets of queries, suggesting that a router with query-specific model selection can outperform any single model. While existing…

Mixture-of-Agents (MoA) improves LLM performance through layered collaboration, but its dense topology raises costs and latency. Existing methods employ LLM judges to filter responses, yet still require all models to perform inference…

To date, the analysis of high-dimensional, computationally expensive engineering models remains a difficult challenge in risk and reliability engineering. We use a combination of dimensionality reduction and surrogate modelling termed…

This paper describes a simple, but effective sampling method for optimizing and learning a discrete approximation (or surrogate) of a multi-dimensional function along a one-dimensional line segment of interest. The method does not rely on…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

This paper introduces Smart Predict Then Control (SPC), a control aware refinement procedure for model based control. SPC refines a prediction oriented model by optimizing a surrogate objective that evaluates candidate models through the…

Trial-and-error based reinforcement learning (RL) has seen rapid advancements in recent times, especially with the advent of deep neural networks. However, the majority of autonomous RL algorithms require a large number of interactions with…