相关论文: Parallel Differentiable Reachability for Learning …

Data-driven reachability analysis computes over-approximations of reachable sets directly from noisy data. Existing deterministic methods require either known noise bounds or system-specific structural parameters such as Lipschitz…

Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…

The intrinsic complexity of deep neural networks (DNNs) makes it challenging to verify not only the networks themselves but also the hosting DNN-controlled systems. Reachability analysis of these systems faces the same challenge. Existing…

The arising application of neural networks (NN) in robotic systems has driven the development of safety verification methods for neural network dynamical systems (NNDS). Recursive techniques for reachability analysis of dynamical systems in…

Neural-network-based dynamics models learned from observational data have shown strong predictive capabilities for scene dynamics in robotic manipulation tasks. However, their inherent non-linearity presents significant challenges for…

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…

Neural networks achieve outstanding accuracy in classification and regression tasks. However, understanding their behavior still remains an open challenge that requires questions to be addressed on the robustness, explainability and…

This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…

Traditional neuromorphic hardware architectures rely on event-driven computation, where the asynchronous transmission of events, such as spikes, triggers local computations within synapses and neurons. While machine learning frameworks are…

We consider data-driven reachability analysis of discrete-time stochastic dynamical systems using conformal inference. We assume that we are not provided with a symbolic representation of the stochastic system, but instead have access to a…

Dynamic Pushdown Networks (DPNs) are a model for multithreaded programs with recursion and dynamic creation of threads. In this paper, we propose a temporal logic called NTL for reasoning about the call- and return- as well as thread…

Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework that enables online motion synthesis with…

Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control laws using NN,…

Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed on a reduced order model to generate reference trajectories,…

The rapid development in computing technology has paved the way for directive-based programming models towards a principal role in maintaining software portability of performance-critical applications. Efforts on such models involve a least…

Current directions in network routing research have not kept pace with the latest developments in network architectures, such as peer-to-peer networks, sensor networks, ad-hoc wireless networks, and overlay networks. A common characteristic…

Parallel server systems in transportation, manufacturing, and computing heavily rely on dynamic routing using connected cyber components for computation and communication. Yet, these components remain vulnerable to random malfunctions and…

Safety is a critical concern for the next generation of autonomy that is likely to rely heavily on deep neural networks for perception and control. Formally verifying the safety and robustness of well-trained DNNs and learning-enabled…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…

Pipeline parallelism is an essential distributed parallelism method. Increasingly complex and diverse DNN models necessitate meticulously customized pipeline schedules for performance. However, existing practices typically rely on…