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09/15/2023
Satisfiability.jl: Satisfiability Modulo Theories in Julia
Satisfiability modulo theories (SMT) is a core tool in formal verificati...
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07/20/2023
A Holistic Assessment of the Reliability of Machine Learning Systems
As machine learning (ML) systems increasingly permeate high-stakes setti...
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07/03/2023
Efficient Determination of Safety Requirements for Perception Systems
Perception systems operate as a subcomponent of the general autonomy sta...
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06/27/2023
Deep Normalizing Flows for State Estimation
Safe and reliable state estimation techniques are a critical component o...
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06/19/2023
AVOIDDS: Aircraft Vision-based Intruder Detection Dataset and Simulator
Designing robust machine learning systems remains an open problem, and t...
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05/31/2023
BetaZero: Belief-State Planning for Long-Horizon POMDPs using Learned Approximations
Real-world planning problemsx2014including autonomous driving and sustai...
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05/29/2023
Experience Filter: Using Past Experiences on Unseen Tasks or Environments
One of the bottlenecks of training autonomous vehicle (AV) agents is the...
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05/17/2023
Model-based Validation as Probabilistic Inference
Estimating the distribution over failures is a key step in validating au...
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05/03/2023
Bayesian Safety Validation for Black-Box Systems
Accurately estimating the probability of failure for safety-critical sys...
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04/19/2023
Optimizing Carbon Storage Operations for Long-Term Safety
To combat global warming and mitigate the risks associated with climate ...
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04/02/2023
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
To achieve autonomy in unknown and unstructured environments, we propose...
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03/17/2023
Inferring Traffic Models in Terminal Airspace from Flight Tracks and Procedures
Realistic aircraft trajectory models are useful in the design and valida...
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03/06/2023
Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions
Robots that can effectively understand human intentions from actions are...
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02/06/2023
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
We present a method for solving the coverage problem with the objective ...
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01/06/2023
Fast and Scalable Signal Inference for Active Robotic Source Seeking
In active source seeking, a robot takes repeated measurements in order t...
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12/28/2022
Falsification of Learning-Based Controllers through Multi-Fidelity Bayesian Optimization
Simulation-based falsification is a practical testing method to increase...
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12/23/2022
Online Planning for Constrained POMDPs with Continuous Spaces through Dual Ascent
Rather than augmenting rewards with penalties for undesired behavior, Co...
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11/22/2022
A Deep Reinforcement Learning Approach to Rare Event Estimation
An important step in the design of autonomous systems is to evaluate the...
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11/16/2022
Interpretable Self-Aware Neural Networks for Robust Trajectory Prediction
Although neural networks have seen tremendous success as predictive mode...
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10/31/2022
Agent-Time Attention for Sparse Rewards Multi-Agent Reinforcement Learning
Sparse and delayed rewards pose a challenge to single agent reinforcemen...
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10/10/2022
Generalized Optimality Guarantees for Solving Continuous Observation POMDPs through Particle Belief MDP Approximation
Partially observable Markov decision processes (POMDPs) provide a flexib...
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10/03/2022
LOPR: Latent Occupancy PRediction using Generative Models
Environment prediction frameworks are essential for autonomous vehicles ...
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09/30/2022
Prioritizing emergency evacuations under compounding levels of uncertainty
Well-executed emergency evacuations can save lives and reduce suffering....
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09/28/2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems
The increasing prevalence of neural networks (NNs) in safety-critical ap...
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09/27/2022
Collaborative Decision Making Using Action Suggestions
The level of autonomy is increasing in systems spanning multiple domains...
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09/16/2022
Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing
Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) cons...
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09/15/2022
Multi-Objective Policy Gradients with Topological Constraints
Multi-objective optimization models that encode ordered sequential const...
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09/12/2022
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty
Robotic exploration of unknown environments is fundamentally a problem o...
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07/11/2022
Uncertainty-Aware Online Merge Planning with Learned Driver Behavior
Safe and reliable autonomy solutions are a critical component of next-ge...
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05/21/2022
Risk-Driven Design of Perception Systems
Modern autonomous systems rely on perception modules to process complex ...
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04/29/2022
Collision Risk and Operational Impact of Speed Change Advisories as Aircraft Collision Avoidance Maneuvers
Aircraft collision avoidance systems have long been a key factor in keep...
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04/05/2022
SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments
Designing a safe and human-like decision-making system for an autonomous...
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03/30/2022
Model Predictive Optimized Path Integral Strategies
We generalize the derivation of model predictive path integral control (...
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03/26/2022
How Do We Fail? Stress Testing Perception in Autonomous Vehicles
Autonomous vehicles (AVs) rely on environment perception and behavior pr...
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03/11/2022
Deep Binary Reinforcement Learning for Scalable Verification
The use of neural networks as function approximators has enabled many ad...
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03/11/2022
A Mixed Integer Programming Approach for Verifying Properties of Binarized Neural Networks
Many approaches for verifying input-output properties of neural networks...
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03/06/2022
Recursive Reasoning Graph for Multi-Agent Reinforcement Learning
Multi-agent reinforcement learning (MARL) provides an efficient way for ...
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02/04/2022
Verifying Inverse Model Neural Networks
Inverse problems exist in a wide variety of physical domains from aerosp...
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01/08/2022
Conditional Approximate Normalizing Flows for Joint Multi-Step Probabilistic Electricity Demand Forecasting
Some real-world decision-making problems require making probabilistic fo...
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01/08/2022
Multi-Vehicle Control in Roundabouts using Decentralized Game-Theoretic Planning
Safe navigation in dense, urban driving environments remains an open pro...
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12/07/2021
Dyadic Sex Composition and Task Classification Using fNIRS Hyperscanning Data
Hyperscanning with functional near-infrared spectroscopy (fNIRS) is an e...
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11/03/2021
Autonomous Attack Mitigation for Industrial Control Systems
Defending computer networks from cyber attack requires timely responses ...
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10/27/2021
Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models
Many applications of generative models rely on the marginalization of th...
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09/16/2021
Interpretable Local Tree Surrogate Policies
High-dimensional policies, such as those represented by neural networks,...
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09/05/2021
Multi-Agent Variational Occlusion Inference Using People as Sensors
Autonomous vehicles must reason about spatial occlusions in urban enviro...
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08/03/2021
OVERT: An Algorithm for Safety Verification of Neural Network Control Policies for Nonlinear Systems
Deep learning methods can be used to produce control policies, but certi...
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07/27/2021
Finding Failures in High-Fidelity Simulation using Adaptive Stress Testing and the Backward Algorithm
Validating the safety of autonomous systems generally requires the use o...
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07/23/2021
3D Radar Velocity Maps for Uncertain Dynamic Environments
Future urban transportation concepts include a mixture of ground and air...
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07/02/2021
Hierarchical Planning for Dynamic Resource Allocation in Smart and Connected Communities
Resource allocation under uncertainty is a classical problem in city-sca...
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06/09/2021