相关论文: Interval POMDP Shielding for Imperfect-Perception …
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…
Planning robust executions under uncertainty is a fundamental challenge for building autonomous robots. Partially Observable Markov Decision Processes (POMDPs) provide a standard framework for modeling uncertainty in many applications. In…
The growing trend of fledgling reinforcement learning systems making their way into real-world applications has been accompanied by growing concerns for their safety and robustness. In recent years, a variety of approaches have been put…
Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…
In this paper, we consider the problem of safety assessment for Markov decision processes without explicit knowledge of the model. We aim to learn probabilistic safety specifications associated with a given policy without compromising the…
Deep reinforcement learning has emerged as a powerful tool for obtaining high-performance policies. However, the safety of these policies has been a long-standing issue. One promising paradigm to guarantee safety is a shield, which shields…
Decision making under uncertainty is at the heart of any autonomous system acting with imperfect information. The cost of solving the decision making problem is exponential in the action and observation spaces, thus rendering it unfeasible…
This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…
Machine teaching can be viewed as optimal control for learning. Given a learner's model, machine teaching aims to determine the optimal training data to steer the learner towards a target hypothesis. In this paper, we are interested in…
Robots operating in complex and unknown environments frequently require geometric-semantic representations of the environment to safely perform their tasks. While inferring the environment, they must account for many possible scenarios when…
In offline reinforcement learning (RL), we learn policies from fixed datasets without environment interaction. The major challenges are to provide guarantees on the (1) performance and (2) safety of the resulting policy. A technique called…
We study the problem of refining satisfiability bounds for partially-known stochastic systems against planning specifications defined using syntactically co-safe Linear Temporal Logic (scLTL). We propose an abstraction-based approach that…
In this study I proposed a filtering beliefs method for improving performance of Partially Observable Markov Decision Processes(POMDPs), which is a method wildly used in autonomous robot and many other domains concerning control policy. My…
The threats posed by evolving cyberattacks have led to increased research related to software systems that can self-protect. One topic in this domain is Moving Target Defense (MTD), which changes software characteristics in the protected…
We study model-based learning of finite-window policies in tabular partially observable Markov decision processes (POMDPs). A common approach to learning under partial observability is to approximate unbounded history dependencies using…
Agents that operate in an unknown environment are bound to make mistakes while learning, including, at least occasionally, some that lead to catastrophic consequences. When humans make catastrophic mistakes, they are expected to learn never…
Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires coordinating three distinct behaviors: goal reaching, safety,…
Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…
Solving partially observable Markov decision processes (POMDPs) with high dimensional and continuous observations, such as camera images, is required for many real life robotics and planning problems. Recent researches suggested machine…
A multi-agent partially observable Markov decision process (MPOMDP) is a modeling paradigm used for high-level planning of heterogeneous autonomous agents subject to uncertainty and partial observation. Despite their modeling efficiency,…