Ufuk Topcu

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The University of Texas at Austin ∙ University of Pennsylvania

Assistant Professor Department of Aerospace Engineering and Engineering Mechanics at The University of Texas

Self-Supervised Online Reward Shaping in Sparse-Reward Environments

We propose a novel reinforcement learning framework that performs self-s...
03/08/2021 ∙ by Farzan Memarian, et al. ∙ 0 ∙ share

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Function Approximation via Sparse Random Features

Random feature methods have been successful in various machine learning ...
03/04/2021 ∙ by Abolfazl Hashemi, et al. ∙ 40 ∙ share

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A 3D Printing Hexacopter: Design and Demonstration

3D printing using robots has garnered significant interest in manufactur...
03/02/2021 ∙ by Alexander Nettekoven, et al. ∙ 0 ∙ share

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Safe Multi-Agent Reinforcement Learning via Shielding

Multi-agent reinforcement learning (MARL) has been increasingly used in ...
01/27/2021 ∙ by Ingy Elsayed-Aly, et al. ∙ 0 ∙ share

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Multiple Plans are Better than One: Diverse Stochastic Planning

In planning problems, it is often challenging to fully model the desired...
12/31/2020 ∙ by Mahsa Ghasemi, et al. ∙ 23 ∙ share

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Towards online monitoring and data-driven control: a study of segmentation algorithms for infrared images of the powder bed

An increasing number of selective laser sintering and selective laser me...
11/18/2020 ∙ by Alexander Nettekoven, et al. ∙ 0 ∙ share

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Assured Autonomy: Path Toward Living With Autonomous Systems We Can Trust

The challenge of establishing assurance in autonomy is rapidly attractin...
10/27/2020 ∙ by Ufuk Topcu, et al. ∙ 0 ∙ share

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Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations

This paper considers the problem of computing an optimal trajectory for ...
09/24/2020 ∙ by Tichakorn Wongpiromsarn, et al. ∙ 0 ∙ share

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Robust Finite-State Controllers for Uncertain POMDPs

Uncertain partially observable Markov decision processes (uPOMDPs) allow...
09/24/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning

For a nonlinear system (e.g. a robot) with its continuous state space tr...
09/05/2020 ∙ by Binghan He, et al. ∙ 0 ∙ share

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Near-Optimal Reactive Synthesis Incorporating Runtime Information

We consider the problem of optimal reactive synthesis - compute a strate...
07/31/2020 ∙ by Suda Bharadwaj, et al. ∙ 0 ∙ share

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Distributed Policy Synthesis of Multi-Agent Systems With Graph Temporal Logic Specifications

We study the distributed synthesis of policies for multi-agent systems t...
06/25/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Qualitative Controller Synthesis for Consumption Markov Decision Processes

Consumption Markov Decision Processes (CMDPs) are probabilistic decision...
05/14/2020 ∙ by František Blahoudek, et al. ∙ 0 ∙ share

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Privacy-Preserving Policy Synthesis in Markov Decision Processes

In decision-making problems, the actions of an agent may reveal sensitiv...
04/16/2020 ∙ by Parham Gohari, et al. ∙ 0 ∙ share

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Scalable Synthesis of Minimum-Information Linear-Gaussian Control by Distributed Optimization

We consider a discrete-time linear-quadratic Gaussian control problem in...
04/06/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Scalable Synthesis of Minimum-Information Linear-GaussianControl by Distributed Optimization

We consider a discrete-time linear-quadratic Gaussian control problem in...
04/06/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Distributed Beamforming for Agents with Localization Errors

We consider a scenario in which a group of agents aim to collectively tr...
03/27/2020 ∙ by Erfaun Noorani, et al. ∙ 0 ∙ share

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Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints

Recurrent neural networks (RNNs) have emerged as an effective representa...
02/13/2020 ∙ by Steven Carr, et al. ∙ 0 ∙ share

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Adaptive Teaching of Temporal Logic Formulas to Learners with Preferences

Machine teaching is an algorithmic framework for teaching a target hypot...
01/27/2020 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Active Task-Inference-Guided Deep Inverse Reinforcement Learning

In inverse reinforcement learning (IRL), given a Markov decision process...
01/24/2020 ∙ by Farzan Memarian, et al. ∙ 0 ∙ share

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Policy Synthesis for Factored MDPs with Graph Temporal Logic Specifications

We study the synthesis of policies for multi-agent systems to implement ...
01/24/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Scenario-Based Verification of Uncertain MDPs

We consider Markov decision processes (MDPs) in which the transition pro...
12/24/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Learning and Planning for Time-Varying MDPs Using Maximum Likelihood Estimation

This paper proposes a formal approach to learning and planning for agent...
11/29/2019 ∙ by Melkior Ornik, et al. ∙ 0 ∙ share

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Controller Synthesis of Wind Turbine Generator and Energy Storage System with Stochastic Wind Variations under Temporal Logic Specifications

In this paper, we present a controller synthesis approach for wind turbi...
11/26/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Strategy Synthesis for Surveillance-Evasion Games with Learning-Enabled Visibility Optimization

This paper studies a two-player game with a quantitative surveillance re...
11/18/2019 ∙ by Suda Bharadwaj, et al. ∙ 0 ∙ share

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Online Synthesis for Runtime Enforcement of Safety in Multi-Agent Systems

A shield is attached to a system to guarantee safety by correcting the s...
10/23/2019 ∙ by Dhananjay Raju, et al. ∙ 0 ∙ share

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Decentralized Runtime Synthesis of Shields for Multi-Agent Systems

A shield is attached to a system to guarantee safety by correcting the s...
10/23/2019 ∙ by Dhananjay Raju, et al. ∙ 0 ∙ share

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Online Active Perception for Partially Observable Markov Decision Processes with Limited Budget

Active perception strategies enable an agent to selectively gather infor...
10/04/2019 ∙ by Mahsa Ghasemi, et al. ∙ 0 ∙ share

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The Dirichlet Mechanism for Differential Privacy on the Unit Simplex

As members of a network share more information with each other and netwo...
09/30/2019 ∙ by Parham Gohari, et al. ∙ 0 ∙ share

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Differentially Private Controller Synthesis With Metric Temporal Logic Specifications

Privacy is an important concern in various multiagent systems in which d...
09/29/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Identifying Low-Dimensional Structures in Markov Chains: A Nonnegative Matrix Factorization Approach

A variety of queries about stochastic systems boil down to study of Mark...
09/27/2019 ∙ by Mahsa Ghasemi, et al. ∙ 0 ∙ share

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Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach

This paper develops a controller synthesis approach for a multi-agent sy...
09/22/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Joint Inference of Reward Machines and Policies for Reinforcement Learning

Incorporating high-level knowledge is an effective way to expedite reinf...
09/12/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Transfer of Temporal Logic Formulas in Reinforcement Learning

Transferring high-level knowledge from a source task to a target task is...
09/10/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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An Encoder-Decoder Based Approach for Anomaly Detection with Application in Additive Manufacturing

We present a novel unsupervised deep learning approach that utilizes the...
07/26/2019 ∙ by Baihong Jin, et al. ∙ 8 ∙ share

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Synthesis of Provably Correct Autonomy Protocols for Shared Control

We synthesize shared control protocols subject to probabilistic temporal...
05/15/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Reward-Based Deception with Cognitive Bias

Deception plays a key role in adversarial or strategic interactions for ...
04/25/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Synthesis of Admissible Shields

Shield synthesis is an approach to enforce a set of safety-critical prop...
04/15/2019 ∙ by Laura Humphrey, et al. ∙ 0 ∙ share

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Graph Temporal Logic Inference for Classification and Identification

Inferring spatial-temporal properties from data is important for many co...
03/22/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Counterexample-Guided Strategy Improvement for POMDPs Using Recurrent Neural Networks

We study strategy synthesis for partially observable Markov decision pro...
03/20/2019 ∙ by Steven Carr, et al. ∙ 0 ∙ share

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Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions

With the primary objective of human-robot interaction being to support h...
03/04/2019 ∙ by Rachel Schlossman, et al. ∙ 0 ∙ share

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Distributed Synthesis of Surveillance Strategies for Mobile Sensors

We study the problem of synthesizing strategies for a mobile sensor netw...
02/06/2019 ∙ by Suda Bharadwaj, et al. ∙ 0 ∙ share

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Fairness with Dynamics

It has recently been shown that if feedback effects of decisions are ign...
01/24/2019 ∙ by Min Wen, et al. ∙ 0 ∙ share

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Information-Guided Temporal Logic Inference with Prior Knowledge

This paper investigates the problem of inferring knowledge from data so ...
11/21/2018 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

Contact-based decision and planning methods are becoming increasingly im...
11/11/2018 ∙ by Ye Zhao, et al. ∙ 0 ∙ share

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The Partially Observable Games We Play for Cyber Deception

Progressively intricate cyber infiltration mechanisms have made conventi...
09/28/2018 ∙ by Mohamadreza Ahmadi, et al. ∙ 0 ∙ share

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Structured Synthesis for Probabilistic Systems

We introduce the concept of structured synthesis for Markov decision pro...
07/16/2018 ∙ by Nils Jansen, et al. ∙ 0 ∙ share

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Entropy Maximization for Markov Decision Processes Under Temporal Logic Constraints

We study the problem of synthesizing a policy that maximizes the entropy...
07/09/2018 ∙ by Yagiz Savas, et al. ∙ 0 ∙ share

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Deception in Optimal Control

In this paper, we consider an adversarial scenario where one agent seeks...
05/08/2018 ∙ by Melkior Ornik, et al. ∙ 0 ∙ share

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Maximum Realizability for Linear Temporal Logic Specifications

Automatic synthesis from linear temporal logic (LTL) specifications is w...
04/02/2018 ∙ by Rayna Dimitrova, et al. ∙ 0 ∙ share

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Ufuk Topcu

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