相关论文: Rule-State Inference (RSI): A Bayesian Framework f…

Reinforcement learning (RL) is a promising, upcoming topic in automatic control applications. Where classical control approaches require a priori system knowledge, data-driven control approaches like RL allow a model-free controller design…

State estimation or filtering serves as a fundamental task to enable intelligent decision-making in applications such as autonomous vehicles, robotics, healthcare monitoring, smart grids, intelligent transportation, and predictive…

Time series with missing data are signals encountered in important settings for machine learning. Some of the most successful prior approaches for modeling such time series are based on recurrent neural networks that transform the input and…

We introduce a novel rule-based approach for handling regression problems. The new methodology carries elements from two frameworks: (i) it provides information about the uncertainty of the parameters of interest using Bayesian inference,…

Reinforcement Learning (RL) agents deployed in real-world environments face degradation from sensor faults, actuator wear, and environmental shifts, yet lack intrinsic mechanisms to detect and diagnose these failures. We present an…

This paper presents an inverse reinforcement learning~(IRL) framework for Bayesian stopping time problems. By observing the actions of a Bayesian decision maker, we provide a necessary and sufficient condition to identify if these actions…

A central challenge in many areas of science and engineering is to identify model parameters that are consistent with prior knowledge and empirical data. Bayesian inference offers a principled framework for this task, but can be…

We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically consistent inverse dynamics, contact and loop-closure…

The application of reinforcement learning to safety-critical systems is limited by the lack of formal methods for verifying the robustness and safety of learned policies. This paper introduces a novel framework that addresses this gap by…

Underlying computational model has an important role in any computation. The state and transition (such as in automata) and rule and value (such as in Lisp and logic programming) are two comparable and counterpart computational models. Both…

This paper examines reinforcement learning (RL) in infinite-horizon decision processes with almost-sure safety constraints, crucial for applications like autonomous systems, finance, and resource management. We propose a doubly-regularized…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

Reinforcement learning has long struggled with poor sample efficiency. One promising approach to mitigate this problem is leveraging group-invariant Markov Decision Processes ($G$-invariant MDPs). Existing works in this direction have…

Inductive reasoning, a cornerstone of human cognition, enables generalization from limited data but hasn't yet been fully achieved by large language models (LLMs). While modern LLMs excel at reasoning tasks, their ability to maintain stable…

The objectives that Large Language Models (LLMs) implicitly optimize remain dangerously opaque, making trustworthy alignment and auditing a grand challenge. While Inverse Reinforcement Learning (IRL) can infer reward functions from…

We present an approach to identify a quasi Linear Parameter Varying (qLPV) model of a plant, with the qLPV model guaranteed to admit a robust control invariant (RCI) set. It builds upon the concurrent synthesis framework presented in [1],…

Purpose: The governance of artificial iintelligence (AI) systems requires a structured approach that connects high-level regulatory principles with practical implementation. Existing frameworks lack clarity on how regulations translate into…

Humans can observe a single, imperfect demonstration and immediately generalize to very different problem settings. Robots, in contrast, often require hundreds of examples and still struggle to generalize beyond the training conditions. We…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

This paper presents a formal verification guided approach for a principled design and implementation of robust and resilient learning-enabled systems. We focus on learning-enabled state estimation systems (LE-SESs), which have been widely…